Stereo-spatio-temporal crop condition measurements for plant growth and health optimization

ABSTRACT

A mobile platform includes at least one first sensor mounted at a first position on the mobile platform and at least one second sensor mounted at a second position on the mobile platform, where the first position is offset from the second position. The at least one first sensor is configured to capture first data measurements of plants in the growing area. The at least one second sensor is configured to capture second data measurements of the plants in the growing area. Each of the first and second data measurements is associated with a three-dimensional position within the growing area and a time. The first and second sensors are configured to generate at least one common type of data measurement such that at least some of the first and second data measurements represent stereo-spatio-temporal data measurements of the plants in the growing area.

TECHNICAL FIELD

This disclosure is generally directed to plant monitoring andassessment. More specifically, this disclosure is directed tostereo-spatio-temporal crop condition measurements for plant growth andhealth optimization.

BACKGROUND

When plants are grown on a large scale, such as in protected cultivation(like a greenhouse) or outdoors, both the plants and their growers facevarious challenges. For example, production greenhouses can involve verycomplex and geographically large operations with varying environmentalconditions. The management of growing operations in productiongreenhouses can be difficult and time consuming, and conventionalapproaches for managing the growing operations in greenhouses can sufferfrom a number of shortcomings. The same problems and difficulties canoccur in other large growing areas, such as in open outdoor fields.

SUMMARY

This disclosure relates to stereo-spatio-temporal crop conditionmeasurements for plant growth and health optimization.

In a first embodiment, a mobile platform is configured to move in agrowing area. The mobile platform includes at least one first sensormounted at a first position on the mobile platform and at least onesecond sensor mounted at a second position on the mobile platform, wherethe first position is offset from the second position. The at least onefirst sensor is configured to capture first data measurements of plantsin the growing area. The at least one second sensor is configured tocapture second data measurements of the plants in the growing area. Eachof the first and second data measurements is associated with athree-dimensional position within the growing area and a time. The firstand second sensors are configured to generate at least one common typeof data measurement such that at least some of the first and second datameasurements represent stereo-spatio-temporal data measurements of theplants in the growing area.

In a second embodiment, a mobile platform is configured to move in agrowing area. The mobile platform includes a first portion that includesa base of the mobile platform, a second portion that is movable up anddown relative to the first portion, and a lift configured to raise andlower the second portion relative to the first portion. The mobileplatform also includes a first sensor group mounted to the first portionand a second sensor group mounted to the second portion, where the firstsensor group is offset in space from the second sensor group. The firstsensor group includes one or more first sensors configured to capturefirst data measurements of plants in the growing area. The second sensorgroup includes one or more second sensors configured to capture seconddata measurements of the plants in the growing area. Each of the firstand second data measurements is associated with a three-dimensionalposition within the growing area and a time. The first and secondsensors groups are configured to generate at least one common type ofdata measurement such that at least some of the first and second datameasurements represent stereo-spatio-temporal data measurements of theplants in the growing area.

In a third embodiment, a method includes moving a mobile platform in agrowing area. The method also includes, using one or more first sensorsof the mobile platform, capturing first data measurements of plants inthe growing area. The method further includes, using one or more secondsensors of the mobile platform, capturing second data measurements ofthe plants in the growing area, where the one or more first sensors areoffset from the one or more second sensors. Each of the first and seconddata measurements is associated with a three-dimensional position withinthe growing area and a time. The first and second sensors are configuredto generate at least one common type of data measurement such that atleast some of the first and second data measurements representstereo-spatio-temporal data measurements of the plants in the growingarea.

Other technical features may be readily apparent to one skilled in theart from the following figures, descriptions, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of this disclosure and its features,reference is now made to the following description, taken in conjunctionwith the accompanying drawings, in which:

FIG. 1 illustrates an example system supporting stereo-spatio-temporalcrop condition measurements and analyses for plant growth and healthoptimization according to this disclosure;

FIGS. 2 and 3 illustrate an example mobile platform supportingstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure;

FIG. 4 illustrates an example use of a mobile platform supportingstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure;

FIGS. 5A and 5B illustrate example methods for capturingstereo-spatio-temporal crop condition measurements to support plantgrowth and health optimization according to this disclosure;

FIG. 6 illustrates an example device supporting analyses ofstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure;

FIGS. 7A through 7D illustrate a first example type of graphical userinterface generated based on an analysis of stereo-spatio-temporal cropcondition measurements for plant growth and health optimizationaccording to this disclosure;

FIG. 8 illustrates a second example type of graphical user interfacegenerated based on an analysis of stereo-spatio-temporal crop conditionmeasurements for plant growth and health optimization according to thisdisclosure;

FIG. 9 illustrates a third example type of graphical user interfacegenerated based on an analysis of stereo-spatio-temporal crop conditionmeasurements for plant growth and health optimization according to thisdisclosure;

FIG. 10 illustrates an example graphical user interface for receivinghuman observation data measurements to support analysis ofstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure; and

FIG. 11 illustrates an example method for analyzingstereo-spatio-temporal crop condition measurements to support plantgrowth and health optimization according to this disclosure.

DETAILED DESCRIPTION

FIGS. 1 through 11, described below, and the various embodiments used todescribe the principles of the present invention in this patent documentare by way of illustration only and should not be construed in any wayto limit the scope of the invention. Those skilled in the art willunderstand that the principles of the present invention may beimplemented in any type of suitably arranged device or system.

As noted above, when plants are grown on a large scale, such as inprotected cultivation (like a greenhouse) or outdoors, both the plantsand their growers face various challenges. For example, productiongreenhouses can involve very complex and geographically large operationswith varying environmental conditions. The management of growingoperations in production greenhouses can be difficult and timeconsuming, and conventional approaches for managing the growingoperations in greenhouses can suffer from a number of shortcomings. Thesame problems and difficulties can occur in other large growing areas,such as in open outdoor fields.

As one example issue, plants need to be kept within a range of idealconditions in order to increase or optimize their growth and health andthereby increase or optimize their yields of production items likefruits or vegetables. There are strong links between key environmentalor climatic data (such as temperature, humidity, carbon dioxide level,and level of photosynthetically active radiation (PAR)) and plant growthand health, production yields, the prevalence of pests or diseases, andother traits that may or may not be desirable. During plant management,a number of plant-related variables are typically monitored, and variousanalyses can typically be performed. The analyses can be used to decidehow best to optimize growing conditions in a complex multivariableenvironment. The analyses can also be used to identify actions (such ascontrolling climatic variables or deploying pesticides or othertreatments) to be performed manually or in an automated manner. Theoverall goal here is to achieve a desired effect, such as optimalproduction yields with minimal resource usage and minimal pesticideusage. This cycle of sensing, analyzing, and acting can occur repeatedlyto obtain an improved understanding of cause and effect in a growingarea and to continuously improve further optimizations in the growingarea.

Ideally, each plant in a growing area would be kept within a range ofideal conditions in terms of every metric of relevance. If each variableof importance could be sensed directly and perfectly controlled on aper-plant basis, this might be possible to achieve. However, imperfectsensing, imperfect control fidelity, and imperfect understanding ofcause and effect are common in a large-scale growing area, so thisbecomes a very challenging multivariable control problem. A greatervariety of sensed plant-related parameters and an increased fidelity ofparameter measurements (such as though quantity and quality ofinformation) can have a large impact on how operations are performed ina growing area.

Many monitoring systems today use a small number of fixed, simpleenvironmental sensors that are placed periodically around a greenhouseor other growing area to capture climatic data over time. While temporalfidelity is good, this approach provides limited spatial fidelityhorizontally (such as in the X and Y axes) and provides no high-fidelityinformation at all about how conditions change vertically (such as inthe Z axis). One reason for this is that capturing this type ofinformation would require the fixed sensors to be mounted in locationswhere the sensors would interfere with the performance of plant-relatedoperations performed by humans or automated systems. Moreover, thefidelity of information has a generally liner relationship with thetotal cost of the sensors, meaning high-fidelity information istypically very costly to obtain. As a result, complex, expensive singlesensors are not commercially viable. As a particular example, nocommercial sensor system based on this approach incorporateshyperspectral cameras to date because of the high cost of obtaining andinstalling hyperspectral cameras at multiple locations throughout agrowing area.

In one aspect, this disclosure provides a mobile platform for capturingstereo-spatio-temporal crop condition measurements. As described in moredetail below, the mobile platform can be used to achieve increasedfidelity in data collection, such as in terms of type, quantity, andquality of data collected. In another aspect, this disclosure provides adata processing platform for processing stereo-spatio-temporal cropcondition measurements in order to identify operations to help optimizeplant growth and health, which may thereby help to increase or maximizeproduction yields. As described in more detail below, the dataprocessing platform can process the increased-fidelity data, such as thedata measurements that are captured by at least one mobile platform,which enables new and better analyses of plant-related data andultimately greater optimization of selected desirable traits in plantgrowth operations. Note that the functionality described in this patentdocument may be used with various types of growing areas, such ascommercial greenhouses, vertical farms, and open fields.

The mobile platform described below can include one or moreplant-related sensors mounted to a lower portion of the mobile platform,and one or more additional plant-related sensors can be mounted to amovable portion or other portion of the mobile platform. The mobileplatform may be driven by a human operator or moved in a controlled andautomated manner around a growing area. The sensor(s) mounted to thelower portion of the mobile platform can be used to capture measurementsin multiple dimensions of the growing area (such as in the X, Y, and Zdimensions), and the sensor(s) mounted to the movable or other portionof the mobile platform can be used to capture measurements in themultiple dimensions of the growing area (such as in the X, Y, and Zdimensions). In some cases, the sensor(s) mounted to the lower portionof the mobile platform can be used to capture measurements at a fixedheight (a fixed position in the Z dimension), while the sensor(s)mounted to the movable or other portion of the mobile platform can beused to capture measurements at a different fixed height or a variableheight (a fixed or variable position in the Z dimension). Additionally,measurements may be captured at the same or similar locations (such asthe same or similar X-Y-Z locations) of the growing area over time,which may provide an additional dimension (a time or T dimension) to themeasurements. The frequency of measurement at any given location may besingular, intermittent/irregular, or periodic as needed or desired. Thedata processing platform can receive and process these measurements(possibly along with other data) in order to perform one or moreplant-related analyses and perform one or more other plant-relatedfunctions. Note that X, Y, Z, and T are used here merely to describe howmeasurements can be captured along various axes or dimensions of agrowing area over time, but this does not impart any particularlimitations on the layout or arrangement of the growing area or on thetiming or other operation of a mobile platform. Also note that, in somecases, the measurements forming each stereo-spatial-temporal datameasurement may represent measurements captured at different XYZpositions (where at least one of X, Y, and Z is different) captured ator substantially near the same time (or otherwise close enough so thatthe data measurements can be viewed as being related).

Instead of or in addition to the sensors of the mobile platform, atleast some spatio-temporal data may be gathered by the mobile platformfrom at least one human operator or other personnel. For example, themobile platform may include a touchscreen or other input mechanism(s)that allow a human operator to interface with the mobile platform andmanually provide data measurements to the mobile platform. A positioningsystem of the mobile platform or an external positioning system canidentify the position of the mobile platform in a growing area in atleast two dimensions (such as the X and Y dimensions), and a heightsensor of the mobile platform may measure how high the movable portionof the mobile platform has been raised. The mobile platform may then tagthe data measurements provided by the human operator, such as with XYZposition and time information, to generate stereo-spatial-temporal datameasurements. In this way, even manually-providedstereo-spatial-temporal data can be obtained and processed in order togain certain insights into plant conditions. As a particular example,this may allow a human scout to identify a pest or disease on the rootsof a plant and indicate that the pest/disease is of limited extent anddoes not affect the middle or top of the plant. The data processingplatform can use this information to recommend a suitable treatment,such as a treatment that might not have been recommended if thepest/disease was affecting the middle or top of the plant.

The mobile platform can be used to capture measurement data at differentlocations of at least one growing area and at different times of day,season, or growing cycle. In this way, the mobile platform can be usedto capture a large amount of spatio-temporal data. Moreover, by mountingthe same types of sensors to the lower and movable or other portions ofthe mobile platform or otherwise capturing data at multiple heights, themobile platform can be used to capture stereo-spatio-temporalmeasurement data, which allows differences between the spatio-temporaldata at different heights of monitored plants to be identified and usedby the mobile platform or the data processing platform. This approachtherefore provides a cost-effective mechanism for measuring numerous(and possibly all) relevant portions of a greenhouse or other growingarea over time, which may provide a massive increase in the fidelity ofdata that is available for processing. Also, this approach allows alimited number of more expensive sensors to be used to collect dataabout plants in a growing area, which makes the use of newer ormore-expensive sensors commercially viable and further increases thefidelity of data.

The increased quantity and quality of data also improves the dataanalyses that can be performed by the data processing platform andenables new analyses to be performed by the data processing platform.This may allow, for example, improvements in the plant-growing orplant-treating recommendations that are produced by the data processingplatform. Any recommendations identified by the data processing platformmay be provided to humans for the implementation of appropriateinterventions or used to provide automated interventions (which may ormay not require human approval). Depending on the implementation, theinterventions may represent improved optimizations of actions alreadyrecommended by existing monitoring systems, or the interventions mayrepresent new interventions that are not possible given the limitationsof existing systems. Ultimately, this can lead to increasedoptimizations for desired outcomes, such as improved plant growth andhealth, improved production yields, or reduced pests/diseases (which cantranslate into increased revenues and increased profit margins).

In the following discussion, sensors of the mobile platform and the dataprocessing platform may be used to capture and process any suitableplant-related measurement data associated with plants being grown andmonitored in one or more greenhouses or other growing areas. In somecases, the measurement data may include plant production data, physicalplant data, climate data, pest and disease data, crop work data, andcrop treatment data. Note that one, some, or all of these types of datameasurements may be captured and used. Also, note that any other oradditional type(s) of plant-related data measurements may be captured bythe mobile platform and processed by the data processing platform.

Plant production data generally refers to data identifying one or morephysical characteristics associated with actual production by plantsbeing monitored in at least one greenhouse or other growing area.Fruits, vegetables, ornamental flowers, or other production produced byplants may be generally referred to as “production items,” and anycharacteristics of the production items may be generally referred to as“production characteristics.” Examples of plant production data mayinclude a number of production items currently growing on plants; anumber of production items on the ground or removed from plants; one ormore colors of production items; a taste of production items; a shine ofproduction items; a firmness of production items; a shape of productionitems; a smell of production items; internodal distance betweenproduction item-bearing branches of plants; a leaf area index of leavesof plants; a size of foliage of plants; a color of foliage of plants; athickness of foliage of plants; a distribution of flowers of plants; anumber of flowers of plants; total harvest (such as weight per row ofplants) for a particular time period; and/or yield assessment (such assizes and weights of fruits, vegetables, ornamental flowers, or otherharvested production). In some cases, the colors of fruits, vegetables,ornamental flowers, or other production items may be used as indicatorsof ripeness or ready states of the production. These example types ofplant production data are for illustration only.

Physical plant data generally refers to data identifying one or morephysical characteristics associated with plants being monitored in atleast one greenhouse or other growing area. Examples of physical plantdata may include heights of plants; widths of plants; visual data (suchas one or more colors) associated with plants' leaves, stems, or otherportions; spectrographic data associated with plants' leaves, stems, orother portions; a number of plant stems growing in each of variouslocations; a spacing of plant stems growing in each of variouslocations; a density of plant stems at each of various locations;thicknesses of plant stems; an amount of water provided to each plant;one or more nutrients provided to each plant; the phenotype of eachplant; the smell of each plant associated with its chemical compositionand nutritional value and taste; and/or the color of fruits and foliageassociated with stress levels and health of the plants. These exampletypes of physical plant data are for illustration only.

Climate data generally refers to data identifying climatic conditions ofplants being monitored in at least one greenhouse or other growing area.Examples of climate data may include temperature; absolute or relativehumidity; wind/air speed; carbon dioxide level; oxygen level; nitrogendioxide level; ethylene level; amount of natural or artificial light;flux of PAR, PYR, or any other selected spectral weighting of light fromthe top of the canopy to the bottom of the canopy for the plants;spectral composition of light from the top of the canopy to the bottomof the canopy for the plants; vapor-pressure deficit (VPD); dew point;and/or thermal imaging. Since climatic conditions can often vary evenwithin the same greenhouse, field, or other growing area, at least someof the climate data can be specific to each individual plant beingmonitored. These example types of climate data are for illustrationonly.

Pest and disease data generally refers to data identifying pests ordiseases that might be affecting plants being monitored in at least onegreenhouse or other growing area. Pests refer to animals or plants thatare detrimental to the growth or well-being of plants being monitored.Pests can include ectoparasites such as certain types of insects, mites,and vertebrates. Specific examples of pests can include whiteflies,aphids, thrips, spider mites, russet mites, mealybugs, caterpillars,sciarid flies, shore flies, leaf miners, vine weevils, red palm weevils,white grubs, and loopers. Diseases refer to pathogens that aredetrimental to the growth or well-being of plants being monitored.Specific examples of diseases may include certain types of bacteria,viruses, fungi like powdery mildew, oomycetes, protozoa, and nematodes.Examples of pest and disease data may include a number or quantity ofeach pest or disease at each of various locations; a current pressure ofeach pest or disease at each of various locations; historical dataregarding pests and diseases; and/or human, machine, or plant movementsthat may represent vectors for spreading pests and diseases. Theseexample types of pest and disease data are for illustration only.

Crop work data generally refers to data identifying one or morecharacteristics associated with how humans or machines manipulate,modify, and (possibly) damage plants being monitored in at least onegreenhouse or other growing area. Examples of crop work data may includea number of plants remaining after plant work has been completed; anumber of stems remaining after plant work has been completed; a spacingof plants or stems after plant work has been completed; a number ofbroken plant heads present after plant work has been completed; whetherdeleafing was performed during plant work; and/or a number of leaves orother portions of plants on the ground or removed as a result of plantwork. These example types of crop work data are for illustration only.

Crop treatment data generally refers to data identifying one or moretreatments, interventions, or biocontrol agents (collectively referredto as “treatments”) that are used to help combat pests, diseases, orother problems with plants being monitored in at least one greenhouse orother growing area. Treatments can include the application or use ofbeneficial organisms, insecticidal soaps (such as one containing apotassium salt of fatty acids), fertilizers, chemical insecticides,herbicides, or other chemical treatments. Beneficial organisms generallyinclude living organisms that are beneficial to the growth or well-beingof plants being monitored, such as organisms that attack or reduce pestsor diseases. Specific examples of beneficial organisms may includecertain types of parasitic wasps, predatory mites, beetles (such asladybugs and ladybirds), fungi, and nematodes. Examples of croptreatment data may include an identification of the treatment(s)applied, a quantity of each treatment applied, and a date/time when eachtreatment was applied. These example types of crop treatment data arefor illustration only.

In the discussion above and in the discussion below, it is often assumedthat part of the mobile platform is movable up and down in the heightdimension. It is also often assumed that spatio-temporal datameasurements are captured at different heights of plants and thatanalyses of stereo-spatio-temporal data measurements are based ondifferences along the heights of plants. However, it is also oralternatively possible to capture stereo-spatio-temporal datameasurements along other dimensions, such as across the width or depthof plants, and to analyze those stereo-spatio-temporal datameasurements. As a result, this disclosure is not limited to capturingspatio-temporal data measurements at different heights or analyzingstereo-spatio-temporal data measurements based on differences inmeasurements along the heights of plants.

FIG. 1 illustrates an example system 100 supportingstereo-spatio-temporal crop condition measurements and analyses forplant growth and health optimization according to this disclosure. Asshown in FIG. 1, the system 100 includes at least one data processingplatform 102, which may be used in conjunction with one or more growingareas 104 a-104 n. The data processing platform 102 collects andprocesses data (including stereo-spatio-temporal crop conditionmeasurements) associated with various plants 106 being grown in the oneor more growing areas 104 a-104 n. The plants 106 represent any suitableplants being grown and whose condition is monitored and assessed, andthe plants 106 may be used for any suitable purposes. For example, theplants 106 may represent crops that provide food for people or animals,crops that provide material for industrial or medicinal purposes, orflowers or other ornamental plants. In general, the system 100 may beused to monitor and assess any suitable type(s) of plant(s) 106,including a single type of plant 106 or multiple types of plants 106.The system 100 may also be used to monitor and assess any suitablenumber of plants 106.

Each growing area 104 a-104 n represents any suitable space in whichplants 106 can be grown, monitored, and assessed. For example, in someembodiments, each growing area 104 a-104 n may represent a greenhouse orother protected cultivation area or a portion thereof. Protectedcultivation technology is generally used to provide favorable climaticconditions for one or more specific types of plants 106, which can varybased on the specific plants 106 being grown. These favorable climaticconditions can reduce stress levels on the plants 106 and help increaseproduction yields obtained from the plants 106. In other embodiments,each growing area 104 a-104 n may represent an open field or otheroutdoor or unprotected area or a portion thereof. In general, the system100 may be used to monitor and assess plants 106 in any suitable type(s)of growing area(s) 104 a-104 n, including a single type of growing area104 a-104 n or multiple types of growing areas 104 a-104 n. The system100 may also be used to monitor and assess plants 106 in any suitablenumber of growing areas 104 a-104 n.

Each growing area 104 a-104 n may optionally include one or more typesof equipment 108 used to help facilitate growth of the plants 106. Forexample, each growing area 104 a-104 n may include irrigation equipmentconfigured to provide water to the plants 106 and, if necessary,drainage equipment configured to handle water that is not retained bythe plants 106 or their associated containers (if any). Each growingarea 104 a-104 n may also include nutrition equipment configured toprovide nutritional materials to the plants 106. At least part of thenutrition equipment might be integrated into or with the irrigationequipment so that at least some of the nutritional materials can beprovided to the plants 106 via the water that is provided to the plants106. Each growing area 104 a-104 n may further include lightingequipment configured to provide artificial lighting or to controlnatural lighting provided to the plants 106. Each growing area 104 a-104n may also include temperature equipment configured to create a desiredtemperature or temperature range around the plants 106. Each growingarea 104 a-104 n may further include humidity equipment configured tocreate a desired humidity or humidity range around the plants 106. Eachgrowing area 104 a-104 n may also include carbon dioxide (CO₂) equipmentconfigured to create a desired CO₂ level or CO₂ range around the plants106. In addition, each growing area 104 a-104 n may include pruning,spraying, and/or harvesting equipment used to physically prune theplants 106, spray insecticide or other materials onto the plants 106,and/or harvest the plants 106 or portions thereof. In general, thesystem 100 may use any suitable type(s) of equipment 108 in each growingarea 104 a-104 n to perform any desired operation(s) involving theplants 106. Note that the specific equipment 108 used here can varybased on a number of factors, such as based on the specific types ofplants 106 and whether the plants 106 are grown indoors or outdoors.Also, note that different growing areas 104 a-104 n can include the sametype(s) of equipment 108 or different types of equipment 108.

In many cases, the plants 106 in the one or more growing areas 104 a-104n are arranged in a specified pattern. For example, the plants 106 ineach growing area 104 a-104 n may typically be arranged in long rows ofplants 106, where the rows are spaced apart from one another. This helpsto provide space for people or objects to move between the plants 106and to ensure that each plant 106 receives adequate lighting, air flow,moisture, etc. If used in a greenhouse, for example, each plant 106 orgroup of plants 106 may be placed into a suitable container, and thecontainers may be arranged in rows in order to facilitate easy movementof the plants 106 as needed or desired. In some instances, thecontainers themselves may be raised off the ground using suitableholders, which may help to facilitate improved drainage of thecontainers or to reduce the ability of pests to easily reach thecontainers. Greenhouses or other structures also often include verticalposts (possibly at generally regular intervals) that are used to providestructural support, and the posts may often be numbered or otherwiseidentified in order to identify specific locations in the greenhouses orother structures. For instance, plant positions or locations may beidentified based on the plants' row numbers and post numbers.

One or more human scouts 110 are often employed to walk or ride aroundthe one or more growing areas 104 a-104 n and to manually inspect theplants 106. For example, each human scout 110 may visually inspectvarious plants 106 in order to identify any fruits, vegetables,ornamental flowers, or other production items (or characteristicsthereof) currently growing on the plants 106. Each human scout 110 mayalso visually inspect various plants 106 in order to identify anyvisible signs of pests, diseases, over- or under-watering, malnutrition,or other problems (or characteristics thereof) associated with theplants 106. As another example, each human scout 110 may visuallyinspect various plants 106 in order to identify any beneficial organisms(or characteristics thereof) present on or near the plants 106. As yetanother example, each human scout 110 may carry one or more instrumentsthat can be used to perform instrument-based inspections of the plants106.

In this example, each human scout 110 may carry or otherwise have accessto a tablet computer or other mobile electronic device 112, which thehuman scout 110 may use to provide or retrieve data. For example, eachhuman scout 110 may use a mobile electronic device 112 to capture still,video, or thermal images of plants 106 being inspected, identify anyfruits/vegetables/flowers/other production items associated with theplants 106 being inspected, identify any pests/diseases/other conditionsassociated with the plants 106 being inspected, or identify anybeneficial organisms associated with the plants 106 being inspected.Each human scout 110 may also use a mobile electronic device 112 toenter the specific location or locations (such as the heights) where oneor more plants 106 may be suffering from one or more problems, where oneor more production items or beneficial organisms are located, or whereone or more other characteristics of the plants 106 are noted by thehuman scout 110. Note that the mobile electronic device 112 may be ahandheld device or may be incorporated into a larger mobile device, suchas a mobile platform as described below. Also, note that still, video,or thermal images of plants 106 may be captured in any suitable manner,such as standard two-dimensional (2D) imaging, 360° imaging, orstereoscopic three-dimensional (3D) imaging (which may be created witheither 2D plus depth information or a combination of left and rightvideo information).

Each mobile electronic device 112 may also identify its location inorder to associate captured information or to provide useful informationrelated to one or more plants 106 at or near its location. For example,a mobile electronic device 112 may identify its X-Y location or otherlocation and associate any information input by a human scout 110 or anyinformation captured by one or more sensors with that location. This mayallow, for instance, the mobile electronic device 112 to automaticallyassociate information input by the human scout 110 or captured by one ormore sensors with that location or with one or more plants 106 at ornear that location. As another example, a mobile electronic device 112may identify its location and output to a human scout 110 any pests ordiseases previously identified at or near its location or any pests ordiseases projected to now exist at or near its location. Note, however,that in other embodiments the identification of the location of a mobileelectronic device 112 may occur in another component external to themobile electronic device 112, in which case the external component maybe responsible for associating captured information with the mobileelectronic device's location or for providing information based on themobile electronic device's location.

Any suitable technique may be used to identify a location of each mobileelectronic device 112, such as manual input from a user, the use ofGlobal Positioning System (GPS) or Ultra-Wideband (UWB) positioning,visual odometry, the scanning of optical tags (such as bar codes or QRcodes), or the transmission or receipt of radio frequency identification(RFID) signals or other wireless signals. Note that this disclosure isnot limited to any particular location identification technique. Thespecific location identification technique(s) used in the system 100 canvary as needed or desired, and a location identification technique maybe used within or external to the mobile electronic devices 112. Also, adetermined location may be expressed in any suitable manner, such asrow/post numbers, GPS coordinates, or other expression of location.

One or more mobile platforms 114 (also referred to as robotic platforms114) may also be employed to move around the one or more growing areas104 a-104 n and to automatically inspect the plants 106. For example,each mobile platform 114 may include one or more cameras for capturingstill, video, or thermal images of plants 106 being inspected. Eachmobile platform 114 also includes multiple sensors for measuring one ormore aspects associated with the plants 106 being inspected or othercomponents configured to collect measurement data associated with theplants 106 being inspected. Again, still, video, or thermal images ofplants 106 may be captured in any suitable manner, such as standard 2Dimaging, 360° imaging, or stereoscopic 3D imaging. Each mobile platform114 may include any suitable type(s) of sensors or other measurementdevices, such as physiological sensors, surface analysis sensors,chemical sensors, thermal sensors, microclimate sensors, image-based orvideo-based sensors, spectroscopy sensors (including multispectral andhyperspectral sensors), volatile organic compound sensors, or canopyscanning sensors. Note that the same type(s) of sensors may also oralternatively be used by the human scouts 110 or other electronicdevices 112 used by the human scouts 110, or the human scouts 110 andmobile platforms 114 may use different types of sensors.

Each mobile platform 114 may also identify its location or engage inactions that allow an external component to identify its location. Anysuitable technique may be used by each mobile platform 114 or anothercomponent to identify a location of the mobile platform 114, anddetermined locations may be expressed in any suitable manner. Exampletechniques may include the use of GPS or UWB positioning, visualodometry, the scanning of optical tags (such as bar codes or QR codes),or the transmission or receipt of RFID signals or other signals. Again,note that this disclosure is not limited to any particular locationidentification technique(s), and a location identification technique maybe used within or external to each mobile platform 114.

Any suitable type(s) of mobile platform(s) 114 may be used in the system100 to automatically inspect plants 106 in one or more growing areas 104a-104 n. Examples of the mobile platform 114 are described in furtherdetail below. In other embodiments, devices as provided in U.S. Pat. No.10,241,097; U.S. Patent Application Publication No. 2017/0032258; andU.S. patent application Ser. No. 16/990,212 (all of which are herebyincorporated by reference in their entirety) may be modified inaccordance with the teachings of this disclosure and used here. In stillother embodiments, the IRIS SCOUT ROBOT robotic scout from ECOATIONINNOVATIVE SOLUTIONS INC. may be modified in accordance with theteachings of this disclosure and used here. Note, however, that thisdisclosure is not limited to use with any particular type of mobileplatform 114.

At least one network 116 may be used to facilitate communicationsbetween various components of the system 100. For example, the network116 may communicate using Internet Protocol (IP) packets, frame relayframes, Asynchronous Transfer Mode (ATM) cells, or other suitablemethods between network addresses. The network 116 may include one ormore local area networks (LANs), metropolitan area networks (MANs), widearea networks (WANs), all or a portion of a global network such as theInternet, or any other communication system or systems at one or morelocations. The network 116 may also operate according to any appropriatecommunication protocol or protocols. The network 116 may include one ormore public networks and/or one or more private networks. In some cases,the network 116 may include at least one wireless network thatfacilitates wireless communications with the mobile electronic devices112 and the mobile platforms 114, as well as at least one wired networkthat facilitates wired communications. Note that the network 116 may ormay not represent a network associated exclusively with one or moreindividual growing areas 104 a-104 n. As a particular example, thenetwork 116 may represent a 5G network that can provide mobile datacommunication services over a specified area that includes at least onegrowing area 104 a-104 n.

In some cases, one or more other data sources 118 may be provided for agrowing area. The one or more other data sources 118 represent datasources separate from the human scouts 110 and mobile platforms 114.These other data sources 118 may represent any other suitable source(s)of data related to the growing of the plants 106. For example, the otherdata sources 118 may include one or more fixed sensors located at one ormore points in or around the one or more growing areas 104 a-104 n.These fixed sensors may be used to collect any suitable information,such as natural or artificial lighting conditions, humidity, or otherconditions that affect multiple plants 106 or multiple growing areas 104a-104 n. As a particular example, the other data sources 118 may includefixed “climate boxes” that include various sensors for measuringclimatic conditions, where the climate boxes are positioned every fewacres in a growing area. The other data sources 118 may also oralternatively include external sources of information, such as predictednear-term weather or predicted long-term climate conditions.

Note that while all growing areas 104 a-104 n are shown here as having acommon layout, each growing area 104 a-104 n may include all or a subsetof the illustrated components in any suitable arrangement. Also, notethat the growing areas 104 a-104 n may have common or differentarrangements. Thus, for example, one or some of the growing areas 104a-104 n may use only human scouts 110 with electronic devices 112, oneor some of the growing areas 104 a-104 n may use only mobile platforms114, and one or some of the growing areas 104 a-104 n may use acombination of human scouts 110 and mobile platforms 114. As anotherexample, each of the growing areas 104 a-104 n may or may not include orbe associated with one or more other data sources 118. In general, eachof the growing areas 104 a-104 n may include at least one source ofplant-related data for the plants 106 in that growing area (whetherhuman, robotic, or other).

The data processing platform 102 is communicatively coupled to thenetwork 116 and is configured to process data collected or provided bythe mobile electronic devices 112, the mobile platforms 114, and/or theother data sources 118. The data processing platform 102 can alsointeract with the mobile electronic devices 112 and the mobile platforms114, such as by providing data to the mobile electronic devices 112 foruse by the human scouts 110 and by providing data to the mobileplatforms 114 to control scouting.

As described in more detail below, each mobile platform 114 includes oneor more sensors mounted to a lower portion of the mobile platform 114and one or more sensors mounted to a movable or other portion of themobile platform 114. The sensor(s) mounted to the lower portion of themobile platform 114 can be used to capture spatio-temporal measurementdata in multiple dimensions of a growing area 104 a-104 n, and thesensor(s) mounted to the movable or other portion of the mobile platform114 can be used to capture spatio-temporal measurement data in themultiple dimensions of the growing area 104 a-104 n. As noted above, insome cases, the sensor(s) mounted to the lower portion of the mobileplatform 114 can be used to capture measurements at a fixed height,while the sensor(s) mounted to the movable or other portion of themobile platform 114 can be used to capture measurements at a fixed orvariable height. Additionally, measurements may be captured at the sameor similar locations (such as the same or similar X-Y-Z locations) of agrowing area 104 a-104 n over time, which may provide an additional timedimension T to the measurements. Note that each mobile platform 114 maybe driven or otherwise controlled by a human operator, such as by ahuman scout 110, or controlled in an automated manner, such as by thedata processing platform 102. Also or alternatively, the mobile platform114 may include a touchscreen or other input mechanism(s) allowingmanual input of data measurements to the mobile platform 114 by a humanoperator, and a positioning system and a height sensor of the mobileplatform 114 may be used to tag or associate X-Y-Z locations or otherlocations and times with the manually-provided data measurements toproduce stereo-spatio-temporal measurement data.

Also, as described in more detail below, the data processing platform102 can receive and process spatio-temporal measurement data (possiblyalong with other data) in order to perform one or more plant-relatedanalyses and perform one or more other plant-related functions. Forexample, the data processing platform 102 may identify differences inspatio-temporal measurement data by height or other dimension(s) ofvarious plants 106 and make intervention recommendations or triggerinterventions based on the analyses. As part of the processing, the dataprocessing platform 102 may generate one or more graphical userinterfaces for use by users (such as the human scouts 110) based on thespatio-temporal measurement data.

The data processing platform 102 includes any suitable structureconfigured to process plant-related data and to perform one or morefunctions using the plant-related data. For example, the data processingplatform 102 may represent at least one desktop computer, laptopcomputer, server computer, or other computing device. The dataprocessing platform 102 may be local to or remote from the one or moregrowing areas 104 a-104 n. In some cases, for instance, the dataprocessing platform 102 may be implemented in a cloud-based environmentor using one or more remote servers. Among other things, this may allowa service provider to provide its data processing capabilities to anumber of growers over a small or wide geographic area. This may alsoallow a service provider to collect a large amount of data related to alarge number of plants 106 being grown, which the service provider maythen process in order to perform various functions. However, the dataprocessing platform 102 may be implemented in any other suitable manner.One example of the data processing platform 102 is shown in FIG. 6,which is described below.

In some cases, the data processing platform 102 may communicate with oneor more additional users 120 in one or more of the growing areas 104a-104 n. The one or more additional users 120 may use one or moreelectronic devices 122. The additional users 120 may represent anysuitable users associated with the plants 106 or the growing areas 104a-104 n, such as one or more experts, non-experts, growers, or crop-sitemanagers. The electronic devices 122 may represent any suitableelectronic devices for interacting with the data processing platform102, such as desktop computers, laptop computers, tablet computers, ormobile smartphones. The users 120 and their electronic devices 122 maybe located local to or remote from the one or more growing areas 104a-104 n.

Although FIG. 1 illustrates one example of a system 100 supportingstereo-spatio-temporal crop condition measurements and analyses forplant growth and health optimization, various changes may be made toFIG. 1. For example, the system 100 may include any suitable number ofplants 106 in any suitable number of growing areas 104 a-104 n, and theplants 106 may be inspected by any suitable number of human scouts 110and/or mobile platforms 114. Also, the system 100 may include anysuitable number of data processing platforms 102, and components such asnetworks 116 and other data sources 118 may or may not be shared acrossmultiple growing areas 104 a-104 n. Further, each growing area 104 a-104n may be associated with any suitable number of human scouts 110,electronic devices 112, mobile platforms 114, networks 116, and otherdata sources 118 (including none of one or more of these components). Inaddition, the system 100 may interact with any suitable number ofadditional users 120 in one or more of the growing areas 104 a-104 n.

FIGS. 2 and 3 illustrate an example mobile platform 114 supportingstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure. For ease ofexplanation, the mobile platform 114 shown in FIGS. 2 and 3 is describedas being used in the system 100 shown in FIG. 1. However, the mobileplatform 114 may be used in any suitable system(s) and with any suitablegrowing area(s).

As shown in FIG. 2, the mobile platform 114 here is generally designedto carry and be driven by a human operator, such as a human scout 110.The mobile platform 114 defines a space 202 in which the human operatorcan stand in order to drive the mobile platform 114. The space 202 isdefined by a platform 204 on which the human operator can stand andoptionally by rails 206 that enclose the space 202. At least one of therails 206 may be movable or removable in order to facilitate entry intoand exit from the space 202 by the human operator. The space 202 mayhave any suitable size, shape, and dimensions. The platform 204 may beformed from any suitable material(s), such as one or more metals, and inany suitable manner. Also, the platform 204 may have any suitable size,shape, and dimensions. Each rail 206 may be formed from any suitablematerial(s), such as one or more metals, and in any suitable manner. Inaddition, each rail 206 may have any suitable size, shape, anddimensions.

A control panel 208 is provided on the mobile platform 114 to allow thehuman operator to control movement or other operations of the mobileplatform 114. For example, the control panel 208 may allow the humanoperator to drive the mobile platform 114 forward and backward and toturn the mobile platform 114 left and right as desired. The controlpanel 208 may also allow the human operator to raise and lower orotherwise move a portion of the mobile platform 114 as described in moredetail below. The control panel 208 may further allow the human operatorto activate or control operations of various sensors or other componentsof the mobile platform 114. The control panel 208 includes any suitablecontrols for controlling any suitable operations of the mobile platform114.

The mobile platform 114 can be used in conjunction with a mobileelectronic device 210, which may be used to interface the human operatorwith the mobile platform 114, the data processing platform 102, or othersystem components. For example, the mobile electronic device 210 candisplay various plant-related information to or receive variousplant-related information from the human operator. As particularexamples, the mobile electronic device 210 may represent the mobileelectronic device 112 described above, which can be used to capturestill, video, or thermal images of plants 106 being inspected, identifyany fruits/vegetables/flowers/other production items associated with theplants 106 being inspected and their heights/locations, identify anypests/diseases/other conditions associated with the plants 106 beinginspected and their heights/locations, or identify any beneficialorganisms associated with the plants 106 being inspected and theirheights/locations. The mobile electronic device 210 may also receive oneor more graphical user interfaces or other information from the dataprocessing platform 102 for display to the human operator. The one ormore graphical user interfaces may, for instance, graphically illustrateto the human operator where problems have been identified in plants 106or where the human operator should perform one or more actions.

In addition, the mobile electronic device 210 may provide feedback orinstructions to the human operator based on, for instance, analysis ofdata collected by sensors of the mobile platform 114 or wider datasetsavailable within the system. As a particular example, the mobileelectronic device 210 may present an instruction to drive the mobileplatform 114 more slowly in a given area so that higher-fidelitytemporal data may be collected by sensors of the mobile platform 114. Asanother particular example, the mobile electronic device 210 may providefeedback or instructions to the human operator of the mobile platform114 from other humans using other elements of the system elsewhere, suchas by providing instructions for the human operation to move the mobileplatform 114 to specific locations in a greenhouse or other growing areato collect additional data.

The mobile electronic device 210 represents any suitable electronicdevice that can interact with a user. For instance, the mobileelectronic device 210 may include a liquid crystal display (LCD),light-emitting diode (LED) display, or other display, which mayoptionally function as a touchscreen. The mobile electronic device 210may also act as a communication portal that allows the human operator tointeract with the mobile platform 114 or the data processing platform102. The mobile electronic device 210 can be removable here so that thehuman operator can attach the mobile electronic device 210 to and removethe mobile electronic device 210 from the mobile platform 114 at one ormore locations. This may allow, for example, the human operator toremove the mobile electronic device 210 while performing one or moreplant-related actions or other actions.

Multiple mounting structures 212 may optionally be provided on themobile platform 114, where each mounting structure 212 can receive andhold the mobile electronic device 210 in place. Each mounting structure212 may also optionally provide power to the mobile electronic device210 and/or provide a physical interface for communicating with othercomponents of the mobile platform 114. Each mounting structure 212represents any suitable structure configured to receive and retain amobile electronic device 210. Note that while two mounting structures212 are shown here, the mobile platform 114 may include any suitablenumber of mounting structures 212 (including a single mounting structure212) in any suitable location(s), and each mounting structure 212 may befixed or movable.

A base 214 of the mobile platform 114 represents or forms a part of alower portion of the mobile platform 114 on or to which other componentsof the mobile platform 114 are attached or mounted. Among other things,the base 214 is attached to a propulsion system that controls variouswheels 216, which can be used to move the base 214 and thereby move themobile platform 114. The base 214 is also coupled to a lift 218, whichcan be used to selective raise and lower the platform 204 and variouscomponents coupled directly or indirectly to the platform 204. The lift218 represents any suitable structure configured to raise and lower amovable portion of the mobile platform 114, such as a scissor lift.

A power supply 220 provides electrical power to various components ofthe mobile platform 114. The power supply 220 represents any suitablesource of electrical power, such as one or more rechargeable batteries.The power supply 220 may also include a power management system that isconfigured to provide for switching between multiple energy sources orthat incorporates safety and protection devices.

The mobile platform 114 also includes multiple sensor groups 222 and224, which are mounted to different portions of the mobile platform 114.More specifically, the sensor group 222 is mounted directly orindirectly to the base 214 of the mobile platform 114, so the sensorgroup 222 is mounted to the lower portion or otherwise mounted at alower position (height) of the mobile platform 114. The sensor group 224is mounted directly or indirectly to the platform 204 of the mobileplatform 114, so the sensor group 224 is mounted to the movable portionor otherwise mounted at a higher position (height) of the mobileplatform 114. Among other things, the sensor group 222 includes one ormore sensors that can be used to measure one or more plant-relatedcharacteristics of plants 106 at or near the bottoms of the plants 106,and the sensor group 224 includes one or more sensors that can be usedto measure one or more plant-related characteristics of plants 106 atone or more higher locations of the plants 106. As noted above, however,the sensor groups 222 and 224 may also or alternatively be offset inother directions.

The sensor groups 222 and 224 include at least one common type of sensorin each group. For example, the sensor group 222 may include one or morelower canopy climate sensors 226 and a lower canopy light sensor 228,and the sensor group 224 may include one or more upper canopy climatesensors 230 and an upper canopy light sensor 232. The one or more lowercanopy climate sensors 226 can be used to measure one or moreplant-related climatic characteristics or other characteristics of thelower canopies or other lower portions of plants 106. The one or moreupper canopy climate sensors 230 can be used to measure one or moreplant-related climatic characteristics or other characteristics of themid or upper canopies or other higher portions of plants 106. The lowercanopy light sensor 228 can be used to measure one or more plant-relatedlighting characteristics, such as PAR light level, at the lower canopiesor other lower portions of plants 106. The upper canopy light sensor 232can be used to measure one or more plant-related lightingcharacteristics, such as PAR light level, at the mid or upper canopiesor other higher portions of plants 106.

In some embodiments, the one or more lower canopy climate sensors 226and the lower canopy light sensor 228 may generally remain fixed tocapture measurements at or near the bottom of the height axis of theplants 106. Because the sensor group 224 is higher than the sensor group222, this allows the one or more upper canopy climate sensors 230 andthe upper canopy light sensor 232 to capture various measurements at adifferent height relative to the sensor group 222. If the platform 204(and therefore the sensor group 224) is raised and lower via the lift218, the one or more upper canopy climate sensors 230 and the uppercanopy light sensor 232 can be used to capture various measurements atmultiple different heights of the plants 106 relative to the sensorgroup 222. Note, however, that nothing prevents the sensor group 222from being movable (right, left, up, down, forward, or backward).

The sensor groups 222 and 224 may include any suitable type(s) ofsensors or other measurement devices. As particular examples, eachsensor group 222 and 224 may include a temperature sensor, a humiditysensor, a carbon dioxide sensor, a PAR light sensor, a tilt sensor, anda red-green-blue (RGB) or other camera or other imaging sensor. Other oradditional types of sensors that may be used in the sensor groups 222and 224 may include spectrometers, multispectral cameras, hyperspectralcameras, infrared cameras, or thermal cameras. In general, any suitablephysiological sensors, surface analysis sensors, chemical sensors,thermal sensors, microclimate sensors, image-based or video-basedsensors, spectroscopy sensors, volatile organic compound sensors, canopyscanning sensors, or other sensors may be used in the sensor groups 222and 224. Because the sensor groups 222 and 224 include at least onecommon type of sensor, the sensor groups 222 and 224 can be used tocapture stereo-spatio-temporal data measurements associated with theplants 106.

The sensor groups 222 and 224 may also include sensors that are notcommon between the sensor groups 222 and 224. For example, the sensorgroup 222 may include a row detector sensor 234 and a row distance meter236. The row detector sensor 234 can be used to sense when the mobileplatform 114 turns onto or is traveling down a row of plants 106. Thiscan be done in any suitable manner, such as by sensing a marking orother indicator on the ground of a greenhouse or other growing area 104a-104 n, using an image processing or positioning technique, or usingany other suitable technique. In some cases, the row detector sensor 234can identify the specific row of plants 106 in which the mobile platform114 is positioned. The row distance meter 236 measures how far along arow that the mobile platform 114 has traveled, such as by measuring thedistance that the mobile platform 114 has traveled after turning onto arow. Collectively, the row detector sensor 234 and the row distancemeter 236 can identify the position of the mobile platform 114 in agrowing area 104 a-104 n, which may (among other things) allow themobile platform 114 to associate data measurements with its location.Note, however, that any other suitable mechanism may be used here toidentify a location of the mobile platform 114.

As another example, the sensor group 224 may include a camera 238, whichcan capture still, video, or thermal images of scenes in front of oraround the mobile platform 114 (such as images of plants 106 beingmonitored). These images may be used for various purposes, such as tocapture information about the plants 106, to capture information aboutwhere the mobile platform 114 is located, or to generate one or moregraphical user interfaces. As a particular example, based on knowledgeof the row location or other location of the mobile platform 114, thedata processing platform 102 may generate a graphical user interface forthe electronic device 210, where the graphical user interface includesan image captured by the camera 238 and markers or other indicatorsidentifying plants 106 in the image to be inspected or operations to beperformed on the plants 106 in the image. In some embodiments, thecamera 238 may represent an immersive or other depth-based camera, suchas a 360° immersive camera. The sensor group 224 may also include aplant health sensor 240, which may represent a sensor or collection ofsensors that can gauge the overall health of the plants 106 beingmonitored.

In addition, the sensor group 224 may include a machine vision-basedsensor 242, which can include or be associated with a dedicated graphicsprocessing unit (GPU) 244. The machine vision-based sensor 242 and theGPU 244 can be used to capture and apply machine learning to images inorder to identify one or more characteristics of the plants 106 beingmonitored. For example, one or more machine learning algorithms may beapplied to captured images in order to identify or derive at least someof the plant production data, physical plant data, pest and diseasedata, crop work data, or crop treatment data. As a particular example, aneural network or other machine learning algorithm may be applied tostill, video, or thermal images captured of various plants 106, wherethe neural network or other machine learning algorithm is trained todetect and count specific instances of fruits, vegetables, ornamentalflowers, or other production items produced by the plants 106. Theneural network or other machine learning algorithm may also be trainedto identify, based on color or other factors, the ripeness or readystates of the fruits, vegetables, ornamental flowers, or otherproduction items produced by the plants 106. This allows imageprocessing to be used to automatically estimate production by the plants106. As another particular example, a neural network or other machinelearning algorithm may be applied to still, video, or thermal imagescaptured of various plants 106, where the neural network or othermachine learning algorithm is trained to count the number of plant stemsin a given area (in order to identify the stem density in that area).Stem density is an indicator of the quality of the crop work beingperformed. Certain types of plants 106, such as cucumber and tomatoplants, may be adjusted regularly in a process known as “lowering.”Anomalies in crop density (such as packing plants 106 too densely) areknown to impact plant production, and these conditions may be detectedby or using the neural network or other machine learning algorithm. Thisallows image processing to be used to automatically identifycharacteristics related to crop work or other characteristics that mightimpact plant production.

Finally, the mobile platform 114 may include a height sensor 246, whichcan be used to measure the height of the movable portion of the mobileplatform 114. This allows the mobile platform 114 or the data processingplatform 102 to identify the actual Z-axis positions or otherheight-related positions of data measurements by the sensors mounted onthe movable portion of the mobile platform 114. The height sensor 246includes any suitable structure configured to measure height, such as apressure sensor, accelerometer, or laser or ultrasound rangefinderpointed towards the ground. As a particular example, the height sensor246 may include an accelerometer that measures a tilt of a portion ofthe scissor lift 218, where the tilt corresponds to a specific distancethat the scissor lift 218 has raised the platform 204. Note that whileshown as being positioned on the lift 218, the height sensor 246 may beplaced in any other suitable location on the mobile platform 114, suchas on the platform 204 or with the sensor group 224.

Note that while the sensor groups 222 and 224 here are shown as beingpositioned on the front of the mobile platform 114, the sensor groups222 and 224 may be repositioned as needed or desired. For example, atleast one of the sensor groups 222 and 224 may be repositioned towardthe right or left side of the mobile platform 114 in order to facilitatemeasurements of plants 106. In other embodiments, the sensor groups 222and 224 can be fixed and non-movable.

As shown in FIG. 3, various components of the mobile platform 114 areshown in block form. Here, the mobile platform 114 includes the sensorgroups 222 and 224, the power supply 220, and the electronic device 210(which in this example includes a display and supports a userinterface). The mobile platform 114 also includes at least oneprocessing device 302, which may form part of a computing or controlsystem 303 for the mobile platform 114. The processing device 302 mayexecute instructions that can be loaded into a memory 304. Theprocessing device 302 includes any suitable number(s) and type(s) ofprocessors or other devices in any suitable arrangement. Example typesof processing devices 302 include one or more microprocessors,microcontrollers, digital signal processors (DSPs), application specificintegrated circuits (ASICs), field programmable gate arrays (FPGAs), ordiscrete circuitry. Example types of microprocessors may include atleast one central processing unit (CPU), graphics processing unit (GPU),data processing unit (DPU), or Tensor processing unit (TPU). The memory304 represents any suitable structure(s) configured to store andfacilitate retrieval of information (such as data, program code, and/orother suitable information on a temporary or permanent basis). Thememory 304 may represent a random access memory or any other suitablevolatile or non-volatile storage device(s).

A data storage 306 may be used to store data used, generated, orcollected by the processing device 302 or other components of the mobileplatform 114. For example, the data storage 306 may be used to storedata measurements collected using the sensors of the sensor groups 222and 224. These data measurements may be stored and retrieved as needed,such as when the data measurements are stored during operation of themobile platform 114 and then retrieved for transmission to the dataprocessing platform 102. The data storage 306 represents any suitablestructure(s) configured to store and facilitate retrieval ofinformation, such as a random access memory, a read only memory, a harddrive, a solid-state drive, or a Flash memory.

A guidance/positioning system 308 can be configured to identify alocation of the mobile platform 114 and to support navigation by themobile platform 114. In some embodiments, the guidance/positioningsystem 308 produces location tags that can be associated with sensordata measurements, where the location tags identify X-Y or otherpositions (and possibly height measurements from the height sensor 246,if any) at which the data measurements are captured, and optionallytransmitted along with the data measurements. The guidance/positioningsystem 308 includes any suitable structure configured to identify alocation of the mobile platform 114, such as the row detector sensor 234and the row distance meter 236. Other structures used in theguidance/positioning system 308 may include a GPS receiver or othersatellite-based receiver, a UWB receiver, a visual odometer, an RFIDdevice, or other device. Note that the guidance/positioning system 308may operate by receiving incoming signals or other information toidentify its location or by transmitting outgoing signals or otherinformation that allow other components to identify its location.

A propulsion system 310 is configured to move the mobile platform 114,such as by causing the wheels 216 to rotate. The propulsion system 310includes any suitable structure configured to propel or otherwise movethe mobile platform 114, such as an electric motor. A communicationsunit 312 allows the mobile platform 114 to communicate information anddata to one or more external systems or devices and/or to receiveinformation or commands from one or more external systems or devices. Insome embodiments, the communications unit 312 may include an externalserial connection that is provided to allow a user to connect a personalcomputer (PC) or other device to the mobile platform 114, such as inorder to modify the software or firmware on-board the mobile platform114. Also, in some embodiments, the communications unit 312 may includeat least one wireless radio or other wireless transmitter, receiver, ortransceiver that allows wireless communications to and/or from themobile platform 114. Also or alternatively, the mobile platform 114 maycommunicate via the mobile electronic device 210.

A treatment system 314 may be provided in the mobile platform 114 andcan be configured to apply one or more treatment agents (such as atleast one chemical pesticide and/or at least one biological controlagent) to each of one or more plants 106 in one or more growing areas104 a-104 n. The treatment system 314 includes any suitable structureconfigured to deliver one or more treatment agents to plants. Exampleembodiments of treatment systems are provided in U.S. patent applicationSer. No. 16/990,212 (which was previously incorporated by reference).Note, however, that any other embodiments of the treatment system 314may be used here.

Although FIGS. 2 and 3 illustrate one example of a mobile platform 114supporting stereo-spatio-temporal crop condition measurements for plantgrowth and health optimization, various changes may be made to FIGS. 2and 3. For example, the size, shape, and dimensions of the mobileplatform 114 and its individual components may vary as needed ordesired. Also, any number and type(s) of sensor(s) may be included ineach sensor group 222 and 224, and the mobile platform 114 may includemore than two sensor groups. Further, the use of a scissor lift 218 isone example mechanism for raising and lowering a portion of the mobileplatform 114, and other mechanisms may be used to raise and lower orotherwise move at least the sensor group 224 (or the sensor group 224may simply be fixed in a position offset from the sensor group 222 in atleast one dimension). Moreover, stereo-spatio-temporal measurements maybe captured using a similar arrangement of sensors but in differenttypes of mobile platforms, including mobile platforms that are manuallydriven and robotic platforms that can move autonomously (such as by anon-board computing or control system 303 or a remote computing orcontrol system). In addition, various components shown in FIGS. 2 and 3may be combined, further subdivided, replicated, rearranged, or omittedand additional components may be added as needed or desired.

FIG. 4 illustrates an example use of a mobile platform 114 supportingstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure. For ease ofexplanation, the use shown in FIG. 4 is described as involving themobile platform 114 shown in FIGS. 2 and 3 in the system 100 shown inFIG. 1. However, the mobile platform 114 may be used in any suitablesystem(s) and with any suitable growing area(s).

As shown in FIG. 4, the mobile platform 114 is being used to monitor orinspect multiple plants 106 arranged in various rows 402 of plants. Ascan be seen here, the mobile platform 114 can move down each row 402 ofplants in order to inspect the plants 106 in the rows 402. In thisspecific example, the rows 402 are said to extend lengthwise along anX-axis, and multiple rows 402 extend along a Y-axis. By moving themobile platform 114, the sensors of the mobile platform 114 can capturespatio-temporal data measurements of the plants 106 in these twodimensions of the growing area 104 a-104 n.

In addition, as described above, the sensor groups 222 and 224 can beoffset along a third axis called the Z-axis here. Also, in some cases, aportion of the mobile platform 114 can be raised and lowered, whichallows one or more sensors of the sensor group 224 to be raised andlowered and to capture data measurements at multiple locations along theZ-axis. By using at least one common type of sensor in the sensor groups222 and 224, this allows the mobile platform 114 to capturestereo-spatio-temporal data measurements of the plants 106. Forinstance, differences between sensor data measurements of the same typemay be determined based on the sensor data measurements from the sensorgroups 222 and 224, and these differences represent how at least oneplant-related characteristic varies along at least part of the heightsof the plants 106. Depending on the implementation, sensor datameasurements may be identified at a fixed distance between the sensorgroups 222 and 224, in discrete steps in height changes of the movableportion of the mobile platform 114, or continuously. This allows datameasurements to be obtained with much greater fidelity in the Z-axis,allowing larger portions of the plants 106 to be monitored. As describedbelow, this also enables improved or new analyses that can be performedusing the spatio-temporal data.

The ability to capture and process data measurements from sensor groups222 and 224 that are offset along the Z-axis or other dimension(s)allows various useful measurements or other data to be obtained, such asthe flux of change for one or more variables over at least part of theheight of the plants 106, or to compare the differences in sensor datameasurements over space and over time. Flux or differences can becalculated from a fixed point at the bottom of the plants 106 (asdefined by the position(s) of the sensor(s) in the sensor group 222) toanother or highest point (as defined by the fixed or highest position(s)of the sensor(s) in the sensor group 224). If desired, data measurementsfor positions in between sensor locations can be obtained via gapanalysis fill, interpolation, or other techniques. Data, such as fluxand difference data, may be useful or important since plants 106 canoften have different microclimates at various parts of their canopies,and there are often boundary layers that define and influence themicroclimates. The flux and differences between bottom and top portionsor other portions of the plants 106 can provide an understanding of theclimatic composition and exchanges between various layers of the plants106.

Various advantages or benefits may be obtained using this type ofapproach. For example, this approach adds an additional measurementaxis, such as by supporting sensor data measurements at differentheights of the plants 106, which allows new or improved data analyses tobe performed. For instance, sensor data measurements of the same datatype at different heights allow various analyses, such as those based oneddy co-variants, to be considered in optimization calculations. Also,this approach can reduce the total cost of sensors and their associatedinstallation costs in a growing area 104 a-104 n while keeping the samedata fidelity, or this approach can improve the data fidelity for asignificantly reduced cost (compared to traditional systems) by breakingthe linear relationship between sensor cost and data fidelity. Veryexpensive sensors, which are not commercially viable today, can be madecommercially viable for the same reason, again leading to new or furtheroptimizations. Further, this approach allows sensors to be deployed insuch a manner that they do not interfere with other operations in agrowing area. In addition, improved data analysis techniques, such asartificial intelligence-based or other machine learning-basedtechniques, may be performed using the stereo-spatio-temporal datameasurements.

Although FIG. 4 illustrates one example of a use of a mobile platform114 supporting stereo-spatio-temporal crop condition measurements forplant growth and health optimization, various changes may be made toFIG. 4. For example, the mobile platform 114 may be used in any othersuitable growing area 104 a-104 n in order to monitor plants 106 in anyother suitable arrangement.

FIGS. 5A and 5B illustrate example methods 500 and 550 for capturingstereo-spatio-temporal crop condition measurements to support plantgrowth and health optimization according to this disclosure. For ease ofexplanation, the methods 500 and 550 shown in FIGS. 5A and 5B aredescribed as involving the use of the mobile platform 114 shown in FIGS.2 and 3 in the system 100 shown in FIG. 1. However, the methods 500 and550 may involve the use of any suitable mobile platform(s) in anysuitable system(s) and with any suitable growing area(s).

As shown in FIG. 5A, a mobile platform moves around at least one growingarea at step 502. This may include, for example, a human operator (suchas a human scout 110) driving the mobile platform 114 up and down rows402 of plants 106 or otherwise around at least one growing area 104a-104 n. This may alternatively include the data processing platform 102or other component causing an automated mobile platform 114 to move upand down rows 402 of plants 106 or otherwise around at least one growingarea 104 a-104 n.

Plant-related data measurements are collected using at least one sensorof a first sensor group at a fixed height above the ground at step 504.This may include, for example, one or more sensors of the sensor group222 being used to capture plant production data, physical plant data,climate data, pest and disease data, crop work data, crop treatmentdata, or any other or additional plant-related data measurements. As aparticular example, this may include sensors of the sensor group 222capturing climatic- and lighting-related data measurements. The sensorgroup 222 can be mounted on a lower portion of the mobile platform 114at a fixed distance from the ground, which allows these sensor datameasurements to be captured at a known height of the plants 106 beinginspected. These plant-related data measurements can be captured atdifferent locations of the growing area(s) 104 a-104 n and at differenttimes of day, season, or growing cycle. As a result, these plant-relateddata measurements represent multi-dimensional spatio-temporal datameasurements.

A movable portion of the mobile platform can optionally be raised andlowered during operation of the mobile platform at step 506, andplant-related data measurements are collected using at least one sensorof a second sensor group at step 508. This may include, for example, oneor more sensors of the sensor group 224 being used to capture plantproduction data, physical plant data, climate data, pest and diseasedata, crop work data, crop treatment data, or any other or additionalplant-related data measurements. As a particular example, this mayinclude sensors of the sensor group 224 capturing climatic- andlighting-related data measurements. This may further include the movableportion of the mobile platform 114 being raised and lowered using thelift 218. The sensor group 224 can be mounted at one or more knownlocations on the movable portion or other portion of the mobile platform114, which allows these sensor data measurements to be captured at oneor more known heights of the plants 106 being inspected (and the one ormore known heights may be identified using the height sensor 246).Again, these plant-related data measurements can be captured atdifferent locations of the growing area(s) 104 a-104 n and at differenttimes of day, season, or growing cycle and, as a result, representmulti-dimensional spatio-temporal data measurements. However, theseplant-related data measurements may represent measurements at one ormore different heights relative to the data measurements captured by thesensor group 222.

Optionally, at least some of the collected plant-related datameasurements may be processed by the mobile platform at step 510. Thismay include, for example, the processing device 302 or the GPU 244 ofthe mobile platform 114 processing collected data measurements in orderto generate results based on the collected data measurements. At leastsome of the collected plant-related data measurements and/or at leastsome of the processing results can be transmitted to one or moreexternal destinations at step 512. This may include, for example, thecommunications unit 312 of the mobile platform 114 transmitting at leastsome of the collected plant-related data measurements and/or at leastsome of the processing results to the data processing platform 102 orother destination(s).

The mobile platform or another device may receive information that isbased at least partially on at least some of the collected plant-relateddata measurements and/or at least some of the processing results at step514. This may include, for example, the communications unit 312 of themobile platform 114 or the mobile electronic device 112, 210 receivingone or more graphical user interfaces or other information from the dataprocessing platform 102. As particular examples, the information fromthe data processing platform 102 may identify one or more plants 106that should be inspected for problems (such as one or more plants 106 tobe inspected for at least one previously-detected, recently-detected, orprojected pest or disease) or one or more actions to be performed by thehuman operator or by the mobile platform 114 (such as one or moretreatments to be applied or crop work to be performed). The informationcan be stored, output, or used in any suitable manner at step 516. Thismay include, for example, the processing device 302 storing theinformation in the memory 304 or the data storage 306 of the mobileplatform 114 or the mobile electronic device 112, 210 storing theinformation. This may also include the processing device 302 of themobile platform 114 or a processor of the mobile electronic device 112,210 presenting one or more graphical user interfaces to the humanoperator, such as a graphical user interface that includes an image ofplants 106 and one or more indicators identifying one or moreinspections or actions to occur for those plants 106. This may furtherinclude the processing device 302 of the mobile platform 114 causing themobile platform 114 to perform one or more actions in an automatedmanner. Note that the received information may be used in any other oradditional manner.

As shown in FIG. 5B, a mobile platform moves around at least one growingarea at step 552. This may include, for example, a human operator (suchas a human scout 110) driving the mobile platform 114 up and down rows402 of plants 106 or otherwise around at least one growing area 104a-104 n. Manually-input plant-related data measurements are received bythe mobile platform from the human operator at step 554. This mayinclude, for example, the processing device 302 of the mobile platform114 receiving the manually-input data measurements from the humanoperator via the electronic device 210 during manual inspection ofvarious plants 106. This may also include the human operator raising andlowering a movable portion of the mobile platform 114 as needed ordesired to inspect the plants 106. The manually-input data measurementscan be associated with any suitable plant-related characteristic(s),such as the presence and severity of any pests, diseases, or otherproblems. The manually-input data measurements can also be associatedwith one or more heights of the plants 106.

A height of the movable portion of the mobile platform and a position ofthe mobile platform in the growing area are identified at step 556. Thismay include, for example, the processing device 302 of the mobileplatform 114 receiving a measured height from the height sensor 246 anda location of the mobile platform 114 from the guidance/positioningsystem 308 for each manually-input data measurement or each collectionof manually-input data measurements. Spatio-temporal data measurementsare generated by tagging each of the manually-input data measurementswith its associated identified height and mobile platform position atstep 558. This may include, for example, the processing device 302 ofthe mobile platform 114 storing each manually-input data measurementwith its associated identified height and mobile platform position inthe data storage 306.

Optionally, at least some of the generated spatio-temporal datameasurements may be processed by the mobile platform at step 560. Thismay include, for example, the processing device 302 of the mobileplatform 114 processing the generated spatio-temporal data measurementsin order to generate results based on the data measurements. At leastsome of the generated spatio-temporal data measurements and/or at leastsome of the processing results can be transmitted to one or moreexternal destinations at step 562. This may include, for example, thecommunications unit 312 of the mobile platform 114 transmitting at leastsome of the generated spatio-temporal data measurements and/or at leastsome of the processing results to the data processing platform 102 orother destination(s).

The mobile platform or another device may receive information that isbased at least partially on at least some of the generatedspatio-temporal data measurements and/or at least some of the processingresults at step 564. This may include, for example, the communicationsunit 312 of the mobile platform 114 or the mobile electronic device 112,210 receiving one or more graphical user interfaces or other informationfrom the data processing platform 102. As particular examples, theinformation from the data processing platform 102 may identify one ormore plants 106 that should be inspected for problems (such as one ormore plants 106 to be inspected for at least one previously-detected,recently-detected, or projected pest or disease) or one or more actionsto be performed by the human operator or by the mobile platform 114(such as one or more treatments to be applied or crop work to beperformed). The information can be stored, output, or used in anysuitable manner at step 566. This may include, for example, theprocessing device 302 storing the information in the memory 304 or thedata storage 306 of the mobile platform 114 or the mobile electronicdevice 112, 210 storing the information. This may also include theprocessing device 302 of the mobile platform 114 or a processor of themobile electronic device 112, 210 presenting one or more graphical userinterfaces to the human operator, such as a graphical user interfacethat includes an image of plants 106 and one or more indicatorsidentifying one or more inspections or actions to occur for those plants106. This may further include the processing device 302 of the mobileplatform 114 causing the mobile platform 114 to perform one or moreactions in an automated manner. Note that the received information maybe used in any other or additional manner.

Although FIGS. 5A and 5B illustrate examples of methods 500 and 550 forcapturing stereo-spatio-temporal crop condition measurements to supportplant growth and health optimization, various changes may be made toFIGS. 5A and 5B. For example, while shown as a series of steps, varioussteps in each figure may overlap, occur in parallel, occur in adifferent order, occur any number of times, or be omitted, andadditional steps may be added according to particular needs. As aparticular example, data measurements by the second sensor group 224 mayoccur at a fixed height for the plants 106 without requirement raisingor lowering of the movable portion of the mobile platform 114. Also, acombination of these approaches may be used, such as when both (i) datameasurements from the sensor groups 222 and 224 and (ii) manually-inputdata measurements are received and used as shown here.

FIG. 6 illustrates an example device 600 supporting analyses ofstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure. One or more instancesof the device 200 may, for example, be used to at least partiallyimplement the functionality of the data processing platform 102 ofFIG. 1. However, the functionality of the data processing platform 102may be implemented in any other suitable manner. Also, the same orsimilar arrangement of components as shown in FIG. 2 may be used to atleast partially implement the functionality of one or more of theelectronic devices 112, 122, 210 in FIGS. 1 and 2. However, thefunctionality of each electronic device 112, 122, 210 may be implementedin any other suitable manner.

As shown in FIG. 6, the device 600 denotes a computing device or systemthat includes at least one processing device 602, at least one storagedevice 604, at least one communications unit 606, and at least oneinput/output (I/O) unit 608. The processing device 602 may executeinstructions that can be loaded into a memory 610. The processing device602 includes any suitable number(s) and type(s) of processors or otherdevices in any suitable arrangement. Example types of processing devices602 include one or more microprocessors, microcontrollers, DSPs, ASICs,FPGAs, or discrete circuitry. Example types of microprocessors mayinclude at least one CPU, GPU, DPU, or TPU.

The memory 610 and a persistent storage 612 are examples of storagedevices 604, which represent any structure(s) capable of storing andfacilitating retrieval of information (such as data, program code,and/or other suitable information on a temporary or permanent basis).The memory 610 may represent a random access memory or any othersuitable volatile or non-volatile storage device(s). The persistentstorage 612 may contain one or more components or devices supportinglonger-term storage of data, such as a read only memory, hard drive,Flash memory, or optical disc.

The communications unit 606 supports communications with other systemsor devices. For example, the communications unit 606 can include anetwork interface card or a wireless transceiver facilitatingcommunications over a wired or wireless network, such as a network 116.The communications unit 606 may support communications through anysuitable physical or wireless communication link(s).

The I/O unit 608 allows for input and output of data. For example, theI/O unit 608 may provide a connection for user input through a keyboard,mouse, keypad, touchscreen, or other suitable input device. The I/O unit608 may also send output to a display, printer, or other suitable outputdevice. Note, however, that the I/O unit 608 may be omitted if thedevice 600 does not require local I/O, such as when the device 600 canbe accessed remotely.

In some embodiments, the instructions executed by the processing device602 can include instructions that implement the functionality of thedata processing platform 102. For example, the instructions executed bythe processing device 602 may cause the processing device 602 to obtainand store stereo-spatio-temporal data measurements (or processingresults based on stereo-spatio-temporal data measurements) associatedwith plants 106 in one or more growing areas 104 a-104 n from one ormore mobile platforms 114. The instructions executed by the processingdevice 602 may also cause the processing device 602 to perform one ormore analyses of the stereo-spatio-temporal data measurements. Ofcourse, the data processing platform 102 may receive additionalstereo-spatio-temporal data measurements or other data (such as from themobile electronic devices 112, 210 and/or the other data sources 118)and use the additional data in any suitable analyses as needed ordesired. The instructions executed by the processing device 602 mayfurther cause the processing device 602 to output results of theanalyses or information based on the results of the analyses to themobile platforms 114, the electronic devices 112, 122, 210, or otherdevices for use.

Although FIG. 6 illustrates one example of a device 600 supportinganalyses of stereo-spatio-temporal crop condition measurements for plantgrowth and health optimization, various changes may be made to FIG. 6.For example, data processing platforms and mobile electronic devices cancome in a wide variety of configurations, and FIG. 6 does not limit thisdisclosure to any particular data processing platform or mobileelectronic device. Also, the data processing platform 102 may considerheight-varying data measurements obtained from any other or additionalsources (instead of or in addition to data measurements from one or moremobile platforms 114). This may or may not include human observations orother data measurements associated with different heights of the plants106 being monitored.

There are a wide variety of analyses that may be performed by the dataprocessing platform 102 based, at least in part, onstereo-spatio-temporal data measurements from one or more mobileplatforms 114 or other data sources. The following discussion provideexamples of the types of analyses that might be performed usingstereo-spatio-temporal data measurements from one or more mobileplatforms 114 or other data sources. However, other types of analysesmay be performed as needed or desired. Also, in the discussion below, itmay often be assumed that the stereo-spatio-temporal data measurementsbeing processed are captured using one or more mobile platforms 114.However, stereo-spatio-temporal data measurements from any other oradditional data sources (including human data sources) may be used here.In addition, note that the data processing platform 102 may be used toanalyze stereo-spatio-temporal data measurements and makerecommendations or trigger actions at individual times or in anintermittent or continuous manner as needed or desired.

As one example, the data processing platform 102 may be used to optimizethe conditions for plant growth and health in one or more growing areas104 a-104 n. For instance, the data processing platform 102 may detectincreased humidity or decreased light penetration at the bottom of oneor more plants 106, in which case the data processing platform 102 mayrecommend or trigger deleafing in order to avoid conditions that mightfacilitate disease growth. The data processing platform 102 may detect agradient in light levels in order to better understand the need of theplants 106 for carbon dioxide (or vice versa), in which case the dataprocessing platform 102 may recommend or trigger changes in lightconditions or carbon dioxide levels. The data processing platform 102may monitor the vertical temperature profiles of plants 106 (such astemperature profiles or differentials between flower heads and fruit orvegetables) in order to determine the pace of plant growth and theripening of fruits or vegetables.

The data processing platform 102 may detect decreased light penetrationat the mid-level of one or more plants 106 without excess humidity beingpresent, in which case the data processing platform 102 may recommend ortrigger changes to the operation or position of LED lights or otherlight sources in plant canopies to increase mid-canopy light penetrationwithout de-leafing (to avoid affecting humidity). The data processingplatform 102 may monitor the temperature gradients of the plants 106 andrecommend or trigger changes to the operation of heat pipes underneaththe plants 106 or at the heads of the plants 106 in order to achieve adesired temperature gradient, which can promote early vegetative growth(hotter at the bottom) or late season generative growth (hotter at thetop).

The data processing platform 102 can compare plants 106 and groups ofplants 106, such as by performing plant-to-plant comparisons androw-to-row comparisons, which generally increases the ability tooptimize multiple metrics and may lead to more fidelity in actuatorcontrol or interventions. For instance, recommendations or triggeredchanges may be made to control or align individual fans, LEDs/otherlight sources, or sunshades on a per-plant or per-row basis moreeffectively. The data processing platform 102 can use humidity flux andevapotranspiration rates to recommend or trigger changes to irrigation.The data processing platform 102 can use canopy temperature flux andtemperatures at the heads of the plants 106 to recommend or triggerchanges to pollination or beehive density. The data processing platform102 can use flux measurements to recommend or trigger other specificadjustments that were not possible previously due to a lack ofinformation or data fidelity, such as confirming the bioavailability ofnutritional materials provided through irrigation within the entirecanopy of the plants 106.

As another example, the data processing platform 102 may be used torecognize and reduce non-uniformities introduced by greenhouse designs,control systems, or other characteristics of one or more growing areas104 a-104 n. For example, humidity is typically higher by the walls andlower in the middle of a greenhouse. The data processing platform 102may use humidity measurements to recommend or trigger differentinterventions in different portions of a growing area 104 a-104 n. As aparticular example, the data processing platform 102 may use humiditymeasurements to recommend or trigger more deleafing of plants 106 aroundthe edges of the growing area 104 a-104 n. Also, the orientation of thesun and a greenhouse or other growing area 104 a-104 n can create localhot spots or cold spots in different locations of the growing area 104a-104 n at different times of day. Similarly, the presence of doors andwindows can similarly create local hot spots or cold spots in differentlocations of the growing area 104 a-104 n at different times of day. Thedata processing platform 102 may use temperature measurements torecommend or trigger operations of individual fans, heaters, orsunshades to help combat the creation of local hot spots or cold spotsin different locations of the growing area 104 a-104 n. In addition,plants 106 themselves can change local environments, such as by creatingthe most humid conditions at or near the bottom of the greenhouse orother growing area 104 a-104 n. The data processing platform 102 may usehumidity measurements to recommend or trigger suitable intervention(s)in one or more portions of the growing area 104 a-104 n.

As yet another example, the data processing platform 102 may be used torecommend possible maintenance activities or to identify design changesto a greenhouse or other growing area (or to provide information tousers for use in recommending or performing possible maintenanceactivities or identifying or making greenhouse or other growing areadesign changes). For instance, if humidity is higher at the bottom ofone or more plants 106 than at the tops of the plants 106, this mightindicate a leak in an irrigation system and the need for maintenance.Also, when deciding whether to install inner canopy lighting or heatingtechnology, it might be useful to know the light levels at the tops andbottoms of plants 106 over the days of the year. Further, the dataprocessing platform 102 can provide useful information to understand ifnew technology would be advantageous in a greenhouse or other growingarea 104 a-104 n. As a particular example, vertical ventilation fansmight offer an advantage in achieving a more uniform temperaturegradient across a greenhouse or other growing area 104 a-104 n, and theuse of height-based temperature measurements can identify what type oftemperature gradients currently exist without that technology.

In addition, the data processing platform 102 may use machine learning,data mining, or other techniques to learn information and then put thatinformation into use. Among other things, this may allow the dataprocessing platform 102 to identify more favorable or more unfavorableconditions over time as more and more data is collected and processed.For instance, the data processing platform 102 may analyze climatic orlighting data to learn how flux or differences in data measurementsacross various variables may vary in cases where plants 106 are growingwell and have good health and in cases where plants 106 are growingpoorly and have poor health. This information can be used to establishcorrelations between flux balance and composition and the states of theplants 106, yields of the plants 106, etc. This information can also beused to understand the impacts of corrective actions (such as pesticidetreatments, deleafing, or adjusting climatic conditions) on the flux ormeasurement differences and, by proxy, the states of the plants 106.These correlations can inform growers about the specific types ofactions to take in order to maximize benefits and minimize costs andnegative impacts.

As a specific example, it may be determined that the flux in relativehumidity percentage has a direct correlation with powdery mildew andspider mite infestations and that proper deleafing has a direct impacton the relative humidity percentage. Based on this, relative humiditypercentage may be used by the data processing platform 102 to makerecommendations or trigger actions to control relative humiditypercentage flux. In this example, understanding the infestationrisk/severity and the correlation with relative humidity percentage fluxcan allow one of multiple corrective actions to be recommended orinitiated, such as spraying the plants 106 with a pesticide orscheduling an early deleafing to reduce relative humidity percentageflux.

Each corrective action typically has a cost/benefit ratio associatedwith that corrective action. For example, spraying a pesticide mayprovide the benefits of rapid control and elimination of a problem, butthe costs include material and labor to deploy the pesticide and stresson plants 106 due to pesticide application that lowers production. Earlydeleafing may provide the benefits of adjusting the relative humiditypercentage flux and removing infected plant tissues, but the costsinclude the possibility of missing areas and leaving an infestationbehind, labor, and requiring out-of-schedule work (which means otherscheduled tasks may be put on hold). By giving growers greaterflexibility in terms of what corrective actions are available, growersor the data processing platform 102 can make more informed decisionsabout which corrective action(s) should occur for each identifiedproblem. For instance, the growers or the data processing platform 102can take all of these matters into account (along with their costs,success rates, and potential improvements) in order to recommend orinitiate the best course(s) of action.

The results of the analysis or analyses performed by the data processingplatform 102 may be used in a wide variety of ways. For example, thedata processing platform 102 may provide information to one or moreelectronic devices 112, 122, 210 for presentation to one or more users.The information may take the form of one or more graphical userinterfaces, which may be used by the one or more users to interact withthe data processing platform 102. Of course, any other suitable resultsproduced by the data processing platform 102 may be used in any othersuitable manner.

FIGS. 7A through 7D illustrate a first example type of graphical userinterface generated based on an analysis of stereo-spatio-temporal cropcondition measurements for plant growth and health optimizationaccording to this disclosure. For ease of explanation, the graphicaluser interfaces shown in FIGS. 7A through 7D are described as beinggenerated by the data processing platform 102 in the system 100 shown inFIG. 1. However, the graphical user interfaces may be generated by anysuitable device in any suitable system(s) and with any suitable growingarea(s).

As shown in FIG. 7A, a graphical user interface 700 can be used topresent spatial information (based on an analysis ofstereo-spatio-temporal crop condition measurements) that might beprovided at one or more specific locations in a greenhouse or othergrowing area 104 a-104 n. Here, the graphical user interface 700includes an image 702 of various plants arranged in rows in a greenhouseor other growing area 104 a-104 n. In some embodiments, the image 702may be captured using the camera 238 of the mobile platform 114. Thedata processing platform 102 may receive the image 702 from the mobileplatform 114 and use the location of the mobile platform 114 to identifywhich plants 106 are shown in the image 702 based on the location of themobile platform 114. Any suitable image processing technique or othertechnique may be used by the data processing platform 102 to identifythe specific plants 106 in the image 702.

The graphical user interface 700 also includes one or more indicators704 presented over the image 702. Each indicator 704 can represent anissue associated with one or more plants 106 in the image 702. Forexample, at least one type of indicator 704 might identify at least oneknown pest, disease, or other problem associated with one or more plants106 in the image 702. This type of indicator 704 or these types ofindicators 704 might cause a human scout 110 to closely inspect eachidentified plant 106 or each identified area of a plant 106 to look forthe pest(s), disease(s), or other problem(s). At least one other type ofindicator 704 might identify at least one projected pest, disease, orother problem associated with one or more plants 106 in the image 702,meaning there might be at least one problem based on a projectioncalculated using prior data. Again, this type of indicator 704 or thesetypes of indicators 704 might cause a human scout 110 to closely inspecteach identified plant 106 or each identified area of a plant 106 to lookfor the pest(s), disease(s), or other problem(s). At least one othertype of indicator 704 might indicate that crop work or some otherspecific action or actions are to occur for each identified plant 106 oreach identified area of a plant 106. This type of indicator 704 or thesetypes of indicators 704 might cause a human scout 110 to perform thespecific action(s) for each identified plant 106 or each identified areaof a plant 106.

A summary section 706 at the bottom of the graphical user interface 700here may be used to present various information to the user. Forexample, the summary section 706 might identify one or more specificproblems associated with the plants 106 identified in the image 702 andone or more actions to be performed on at least one of the plants 106identified in the image 702. The summary section 706 might also identifyclimatic conditions and production counts associated with the plants 106identified in the image 702. The summary section 706 might furtheridentify a location of the mobile platform 114 or user in relation toplants 106 to be inspected or actions to be performed. In some cases,the summary section 706 may be updated based on a selected one of theindicators 704, or a pop-up window may present additional informationabout a selected one of the indicators 704. In general, any desiredinformation about the plants 106 or indicators 704 in the image 702 orother information may be presented in any suitable manner with thegraphical user interface 700.

As can be seen in FIG. 7A, at least some of the indicators 704 appear atdifferent heights of the plants 106 in the image 702. This is becausethe stereo-spatio-temporal data measurements permit analyses to beperformed in the height axis of the plants 106 in addition to other axes(such as X and Y axes) of a growing area 104 a-104 n. One example resultof this is that problems or corrective actions can be associated withspecific portions of the plants 106 rather than with the entire plants106 at given locations. This can greatly improve the monitoring of theplants and can help to improve or optimize the growth and health of theplants 106.

In some cases, this graphical user interface 700 might be shown on adisplay of one or more electronic devices 112, 210 to one or moreworkers as they are moving around a greenhouse or other growing area 104a-104 n. The graphical user interface 700 (or the data processingplatform 102) could also update the graphics in real-time to correspondto the workers' current location. In this way, additional insights aboutthe plants 106 at the workers' current location could be shown.

Note that the graphical user interface 700 shown in FIG. 7A has the formof a “virtual walk” in which the graphical user interface 700 is shownfrom the perspective of a person walking in the actual growing area.However, the same or similar contents of the graphical user interface700 may be presented in any other suitable manner. For example, as shownin FIG. 7B, a graphical user interface 720 may present similar contentin a two-dimensional format, where a slider or legend can identify howcontent varies by plant height (or other third dimension). As shown inFIG. 7C, a graphical user interface 740 may present similar content in athree-dimensional format. As shown in FIG. 7D, a graphical userinterface 760 may present similar content in a time-series format forone or more specific locations. While graphs in FIG. 7D are shown asbeing separate, a single graph may also or alternatively be generated byoverlaying the contents of the individual graphs. In each of thesecases, one or more indicators (such as ones that are the same as orsimilar to the types of indicators 704 discussed above) may be presentedin the graphical user interfaces 720, 740, 760.

FIG. 8 illustrates a second example type of graphical user interfacegenerated based on an analysis of stereo-spatio-temporal crop conditionmeasurements for plant growth and health optimization according to thisdisclosure. For ease of explanation, the graphical user interface shownin FIG. 8 is described as being generated by the data processingplatform 102 in the system 100 shown in FIG. 1. However, the graphicaluser interface may be generated by any suitable device in any suitablesystem(s) and with any suitable growing area(s).

As shown in FIG. 8, a graphical user interface 800 can be used topresent information that is based on an analysis ofstereo-spatio-temporal crop condition measurements. Here, the graphicaluser interface 800 includes a control section 802, which may be used toselect data associated with at least one particular type of plant 106(or for all plants 106 if desired) and a particular time period (whichis referred to as a phase). For the selected plant type(s) and phase,the graphical user interface 800 can present a task section 804 thatidentifies active tasks for the selected type(s) of plant 106 and phase.The active tasks may, for instance, identify crop work or otheroperations to be performed for various plants 106 of the selectedtype(s). A control 806 may be used to expand and contract the size ofthe task section 804.

The graphical user interface 800 can also present a pest/disease section808 that identifies any pests and diseases identified for the selectedtype(s) of plant 106 and phase. Each pest or disease can be identifiedby type, location, and severity. In this example, location is based onbay, row, and post numbers, and severity is expressed using numericalvalues from one to five (although location and severity can each beexpressed in any other suitable manner). Controls 810 may be used toexpand and contract the size of the pest/disease section 808 and to addentries to the pest/disease section 808.

An observation section 812 of the graphical user interface 800 presentsresults of one or more analyses of stereo-spatio-temporal datameasurements associated with the selected type(s) of plant 106 andphase. In this example, the observation section 812 includes controls814 that allow a user to (i) select a particular type of pest, disease,or other problem (or all problems if desired) and (ii) indicate whetheronly human-based observations, only machine-based observations, or bothtypes of observations should be presented. Based on these selections,the observation section 812 can present a spatial overview 816 of all ora portion of a growing area 104 a-104 n, where the spatial overview 816identifies where the selected type(s) of problem(s) actually exist orare predicted to exist in the growing area 104 a-104 n based on theselected type(s) of observations.

In this particular example, the spatial overview 816 includes variousregions 818, where each region 818 is associated with a different plant106 or collection of plants 106 in the growing area 104 a-104 n. In somecases, a region 818 may be empty if no human or machine inspections wereperformed for the associated plant(s) 106 during the selected phase, anda region 818 may have a specific color, shading, or other indicator ifthe associated plant(s) 106 did not suffer from the selected problem(s).If a region 818 is associated with one or more plants 106 that didsuffer from the selected problem(s) during the selected phase, theregion 818 can have a specific color, shading, or other indicatoridentifying the severity of the problem(s). A scale 820 can be displayedto inform the user how severity is presented in the spatial overview816.

Controls 822 may be used to expand and contract the size of theobservation section 812 and to add tasks and labels to one or moreregions 818 selected by the user in the spatial overview 816. Thecontrols 822 may also be used to show any tasks associated with one ormore regions 818 in the spatial overview 816.

In some cases, this graphical user interface 800 might be shown on aterminal, such as an electronic device 122, to provide an overallspatial overview of an entire crop. Among other things, this might makeit much easier to identify spatial issues, such as a broken greenhousewindow or blind or the spread of a pest and disease through thegreenhouse or other growing area 104 a-104 n.

FIG. 9 illustrates a third example type of graphical user interfacegenerated based on an analysis of stereo-spatio-temporal crop conditionmeasurements for plant growth and health optimization according to thisdisclosure. For ease of explanation, the graphical user interface shownin FIG. 9 is described as being generated by the data processingplatform 102 in the system 100 shown in FIG. 1. However, the graphicaluser interface may be generated by any suitable device in any suitablesystem(s) and with any suitable growing area(s).

As shown in FIG. 9, a graphical user interface 900 can again be used topresent information that is based on an analysis ofstereo-spatio-temporal crop condition measurements. Here, the graphicaluser interface 900 includes various tabs 902, which allow a user toselect and view information about various features or aspects of one ormore growing areas 104 a-104 n. A control section 904 may be used toselect data associated with at least one particular growing area 104a-104 n and a time period/phase. For the selected growing area(s) andphase, the graphical user interface 900 can present controls 906 thatidentify different reports available for viewing, such as an integratedpest management (IPM) report, climate report, or production report.

A daily insights section 908 can present information and recommendationsto one or more users. In this example, the daily insights section 908can include information identifying new pests, diseases, or otherproblems identified for the selected growing area(s) 104 a-104 n. Thedaily insights section 908 can also include information identifyingoverall climatic conditions and other growing conditions for theselected growing area(s) 104 a-104 n. The daily insights section 908 canfurther include information identifying feedback or recommendations,such as indications that certain measurements were obtained using amobile platform 114, cart, or other device that moved too fast or wastoo high/low. The information in the daily insights section 908 may berelated to data collected daily or most frequently in the selectedgrowing area(s) 104 a-104 n.

A weekly insights section 910 can present information collected over alonger period of time (weekly in this case). In this example, the weeklyinsights section 910 includes various dashboards 912 that identify howconditions (such as one or more specific pests, diseases, or otherproblems) have changed for the given week compared to the prior week.The weekly insights section 910 also includes a spatial overview 914,which can be the same as or similar to the spatial overview 816described above.

A monthly insights section 916 can present information collected over aneven longer period of time (monthly in this case). In this example, themonthly insights section 916 includes various charts showing how one ormore specific pests, diseases, or other problems have varied over timefor the selected growing area(s) 104 a-104 n.

In some cases, this graphical user interface 900 might be shown on aterminal, such as an electronic device 122, to provide an overalltime-series overview of selected data. Among other things, this mightmake it much easier to identify certain issues, such as those tied totime-of-day or seasonal cycles (like broken heating or lights). Notethat the graphical user interface 900 in FIG. 9 is relatively wide,which may be the format used with devices like tablet, laptop, ordesktop computers. For mobile smartphones or other devices with smallerscreens, the contents of the graphical user interface 900 might berearranged, such as by using a more vertical arrangement of content.

Although FIGS. 7A through 7D, 8, and 9 illustrate example types ofgraphical user interfaces generated based on an analysis ofstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization, various changes may be made to these figures. Forexample, the content and the arrangement of that content in eachgraphical user interface can vary as needed or desired. Also, any othersuitable graphical user interface or other outputs may be produced bythe data processing platform 102 for use by one or more users.

FIG. 10 illustrates an example graphical user interface 1000 forreceiving human observation data measurements to support analysis ofstereo-spatio-temporal crop condition measurements for plant growth andhealth optimization according to this disclosure. The graphical userinterface 1000 may, for example, be presented on an electronic device112, 210 for use by a human operator of a mobile platform 114 or otherpersonnel. For ease of explanation, the graphical user interface shownin FIG. 10 is described as being generated by the data processingplatform 102 in the system 100 shown in FIG. 1. However, the graphicaluser interface may be generated by any suitable device in any suitablesystem(s) and with any suitable growing area(s).

As shown in FIG. 10, the graphical user interface 1000 includes a mobileplatform section 1002, which identifies various information about themobile platform 114. In this example, the mobile platform section 1002identifies the speed of the mobile platform 114, the current height ofthe movable portion of the mobile platform 114, the distance traveled bythe mobile platform 114 down a row, and a location of the mobileplatform 114. Also, in this example, the location of the mobile platform114 is expressed using bay, row, and post numbers. Note, however, thatany other or additional information related to the mobile platform 114may be presented here.

An issues section 1004 identifies any known plant-related issuesassociated with one or more plants 106 that are in the vicinity of thelocation of the mobile platform 114. For example, a box 1006 in theissues section 1004 may present a text-based description of any knownissues associated with one or more plants 106 in the vicinity of thelocation of the mobile platform 114 (or an indication that no issues arecurrently active). An icon 1008 in the issues section 1004 can changecolors, flash, or otherwise provide an indication when at least oneproblem is identified in the box 1006, such as when a user has driventhe mobile platform 114 into part of a growing area 104 a-104 n in whichone or more plants 106 have at least one active issue (such as at leastone pest, disease, treatment, crop work, or other action to be performedby the user).

A menu 1010 allows the user to identify a specific type of data to bemanually provided by the user. In this example, it is assumed that theuser is entering information about a pest, although the same, similar,or different I/O mechanisms might be used to receive data from the userrelated to other entries in the menu. For the “pests” option in the menu1010, the graphical user interface 1000 includes a text box 1012 inwhich the user may enter any desired text-based information (such as amanual observation of a pest or other plant-related information).Buttons 1014 allow the user to select a particular pre-defined label fora human observation. Since the “pests” option is selected in the menu1010, the buttons 1014 can identify specific types of pests that mightbe selected by the user, although other types of buttons may be providedfor other types of human observations. This allows the user to quicklyand easily provide a human observation data measurement related to aspecific type of pest or other measurement. Additional buttons 1014 canbe used by the user to identify the overall status of plants 106 and todelete a label (one of the buttons 1014).

For a selected pest, the graphical user interface 1000 provides a slider1016 that can be used by the user to identify the overall pressure ofthe selected pest in the current location. In this case, the slider 1016can be moved up and down to define a specific pest pressure, althoughother mechanisms (such as a text box) might be used. Location controls1018 may be used by the user to define where the specific pest islocated, which in this example includes a left side, a right side, orboth sides (sustained). Note, however, that any other or additionallocation controls may be provided here to identify any other oradditional locations. A soft numeric keypad 1020 allows the user toenter a numerical value defining a count or number of pests identifiedby the user (assuming instances of the selected pest can be separatelycounted). If the selected pest cannot be separately counted (such as inthe case of mildew), a different mechanism may be used to identify theextent or severity of the pest.

A save button 1022 allows the user to save the information in thegraphical user interface 1000. As described in this document, saving ahuman observation may allow one or more spatio-temporal datameasurements (and possibly one or more stereo-spatio-temporal datameasurements) to be obtained by the data processing platform 102. Theactual generation of the spatio-temporal data measurements may occur inthe mobile platform 114, in the electronic device 112, 210, in the dataprocessing platform 102, or in any other suitable location.

Although FIG. 10 illustrates one example of a graphical user interface1000 for receiving human observation data measurements to supportanalysis of stereo-spatio-temporal crop condition measurements for plantgrowth and health optimization, various changes may be made to FIG. 10.For example, the content and the arrangement of that content in thegraphical user interface 1000 can vary as needed or desired. Also, anyother suitable graphical user interface or other mechanisms may be usedto obtain human observations. In addition, the specific I/O mechanismsshown here (such as text boxes, buttons, sliders, and soft keypads) caneasily vary in other implementations.

FIG. 11 illustrates an example method 1100 for analyzingstereo-spatio-temporal crop condition measurements to support plantgrowth and health optimization according to this disclosure. For ease ofexplanation, the method 1100 shown in FIG. 11 is described as involvingthe use of the data processing platform 102 shown in FIG. 6 in thesystem 100 shown in FIG. 1. However, the method 1100 may involve the useof any data processing platform(s) in any suitable system(s) and withany suitable growing area(s).

As shown in FIG. 11, stereo-spatio-temporal data measurements for plantsin at least one growing area are obtained from one or more data sourcesat step 1102. This may include, for example, the communications unit 606of the data processing platform 102 receiving the stereo-spatio-temporaldata measurements from one or more mobile platforms 114, electronicdevices 112, 210, or other suitable data source(s). Note that the dataprocessing platform 102 may receive any additional plant-relatedinformation in addition to the stereo-spatio-temporal data measurements.This may also include the processing device 602 of the data processingplatform 102 storing the obtained data, such as in the memory 610 orpersistent storage 612.

The stereo-spatio-temporal data measurements are analyzed to identifyone or more issues with one or more of the plants in the at least onegrowing area at step 1104, and one or more recommended actions areidentified (and optionally triggered automatically) at step 1106. Thismay include, for example, the processing device 602 of the dataprocessing platform 102 analyzing the stereo-spatio-temporal datameasurements (and possibly other data) to identify one or more problemsassociated with one or more of the plants 106 or to identify one or morecorrective actions to occur involving one or more of the plants 106. Asdescribed above, the analysis of stereo-spatio-temporal datameasurements can take various forms, and at least some of the analysesmay be based on the flux or differences between measurements of a commondata type at different heights of the plants 106. Also, anidentification of the recommended action(s) may involve analyzingmultiple types of corrective actions, such as based on theircost/benefit ratios, in order to select which action(s) to recommend.

The identified issue(s) and recommended action(s) may be used in anysuitable manner. For example, in FIG. 11, at least one graphical userinterface is generated at step 1108 and provided to at least oneelectronic device for presentation at step 1110. The graphical userinterface may include information identifying the identified issue(s)and recommended action(s), request approval for performing therecommended action(s), or contain any other suitable contents in anysuitable arrangement.

Although FIG. 11 illustrates one example of a method 1100 for analyzingstereo-spatio-temporal crop condition measurements to support plantgrowth and health optimization, various changes may be made to FIG. 11.For example, while shown as a series of steps, various steps in FIG. 11may overlap, occur in parallel, occur in a different order, occur anynumber of times, or be omitted, and additional steps may be addedaccording to particular needs. As a particular example, the dataprocessing platform 102 may perform various actions without interactingwith one or more users via one or more graphical user interfaces.

In some embodiments, various functions described in this patent documentare implemented or supported by a computer program that is formed fromcomputer readable program code and that is embodied in a computerreadable medium. The phrase “computer readable program code” includesany type of computer code, including source code, object code, andexecutable code. The phrase “computer readable medium” includes any typeof medium capable of being accessed by a computer, such as read onlymemory (ROM), random access memory (RAM), a hard disk drive (HDD), acompact disc (CD), a digital video disc (DVD), or any other type ofmemory. A “non-transitory” computer readable medium excludes wired,wireless, optical, or other communication links that transporttransitory electrical or other signals. A non-transitory computerreadable medium includes media where data can be permanently stored andmedia where data can be stored and later overwritten, such as arewritable optical disc or an erasable storage device.

It may be advantageous to set forth definitions of certain words andphrases used throughout this patent document. The terms “application”and “program” refer to one or more computer programs, softwarecomponents, sets of instructions, procedures, functions, objects,classes, instances, related data, or a portion thereof adapted forimplementation in a suitable computer code (including source code,object code, or executable code). The term “communicate,” as well asderivatives thereof, encompasses both direct and indirect communication.The terms “include” and “comprise,” as well as derivatives thereof, meaninclusion without limitation. The term “or” is inclusive, meaningand/or. The phrase “associated with,” as well as derivatives thereof,may mean to include, be included within, interconnect with, contain, becontained within, connect to or with, couple to or with, be communicablewith, cooperate with, interleave, juxtapose, be proximate to, be boundto or with, have, have a property of, have a relationship to or with, orthe like. The phrase “at least one of,” when used with a list of items,means that different combinations of one or more of the listed items maybe used, and only one item in the list may be needed. For example, “atleast one of: A, B, and C” includes any of the following combinations:A, B, C, A and B, A and C, B and C, and A and B and C.

The description in the present application should not be read asimplying that any particular element, step, or function is an essentialor critical element that must be included in the claim scope. The scopeof patented subject matter is defined only by the allowed claims.Moreover, none of the claims invokes 35 U.S.C. § 112(f) with respect toany of the appended claims or claim elements unless the exact words“means for” or “step for” are explicitly used in the particular claim,followed by a participle phrase identifying a function. Use of termssuch as (but not limited to) “mechanism,” “module,” “device,” “unit,”“component,” “element,” “member,” “apparatus,” “machine,” “system,”“processor,” or “controller” within a claim is understood and intendedto refer to structures known to those skilled in the relevant art, asfurther modified or enhanced by the features of the claims themselves,and is not intended to invoke 35 U.S.C. § 112(f).

While this disclosure has described certain embodiments and generallyassociated methods, alterations and permutations of these embodimentsand methods will be apparent to those skilled in the art. Accordingly,the above description of example embodiments does not define orconstrain this disclosure. Other changes, substitutions, and alterationsare also possible without departing from the spirit and scope of thisdisclosure, as defined by the following claims.

What is claimed is:
 1. A mobile platform configured to move in a growingarea, the mobile platform comprising: at least one first sensor mountedat a first position on the mobile platform; and at least one secondsensor mounted at a second position on the mobile platform, the firstposition offset from the second position; wherein the at least one firstsensor is configured to capture first data measurements of plants in thegrowing area; wherein the at least one second sensor is configured tocapture second data measurements of the plants in the growing area;wherein each of the first and second data measurements is associatedwith a three-dimensional position within the growing area and a time;and wherein the first and second sensors are configured to generate atleast one common type of data measurement such that at least some of thefirst and second data measurements represent stereo-spatio-temporal datameasurements of the plants in the growing area.
 2. The mobile platformof claim 1, wherein: the at least one first sensor comprises one or morefirst climatic sensors and a first light sensor; and the at least onesecond sensor comprises one or more second climatic sensors and a secondlight sensor.
 3. The mobile platform of claim 2, wherein: the at leastone first sensor further comprises a row detector sensor and a rowdistance meter; and the at least one second sensor further comprises atleast one of: a camera, a plant health sensor, and a machine visionsensor.
 4. The mobile platform of claim 1, wherein the at least onesecond sensor is movable up and down relative to the at least one firstsensor and is configured to capture the second data measurements atdifferent heights of the plants in the growing area.
 5. The mobileplatform of claim 1, wherein the at least one first sensor is configuredto capture the first data measurements of the plants in the growing areaat a fixed height.
 6. The mobile platform of claim 1, wherein the mobileplatform is configured to be driven by a human operator.
 7. The mobileplatform of claim 1, wherein the mobile platform is configured to beautonomously driven by a computer system.
 8. The mobile platform ofclaim 1, wherein the stereo-spatio-temporal data measurements of theplants in the growing area measure one or more plant-relatedcharacteristics of the plants in the growing area at multiple heights.9. The mobile platform of claim 1, wherein the mobile platform furthercomprises at least one processor configured to: receive manual inputfrom a human operator, the manual input comprising human observationdata measurements associated with at least some of the plants; andassociate each human observation data measurement with athree-dimensional position within the growing area and a time.
 10. Amobile platform configured to move in a growing area, the mobileplatform comprising: a first portion comprising a base of the mobileplatform; a second portion that is movable up and down relative to thefirst portion; a lift configured to raise and lower the second portionrelative to the first portion; a first sensor group mounted to the firstportion; and a second sensor group mounted to the second portion, thefirst sensor group offset in space from the second sensor group; whereinthe first sensor group comprises one or more first sensors configured tocapture first data measurements of plants in the growing area; whereinthe second sensor group comprises one or more second sensors configuredto capture second data measurements of the plants in the growing area;wherein each of the first and second data measurements is associatedwith a three-dimensional position within the growing area and a time;and wherein the first and second sensors groups are configured togenerate at least one common type of data measurement such that at leastsome of the first and second data measurements representstereo-spatio-temporal data measurements of the plants in the growingarea.
 11. The mobile platform of claim 10, wherein the second portion ofthe mobile platform comprises: a platform on which a human operator isable to stand; a control panel configured to control operation of themobile platform; and at least one mount for a mobile electronic device.12. The mobile platform of claim 10, wherein the first portion of themobile platform further comprises a propulsion system configured to movethe mobile platform.
 13. The mobile platform of claim 10, wherein: theone or more first sensors comprise one or more first climatic sensorsand a first light sensor; and the one or more second sensors compriseone or more second climatic sensors and a second light sensor.
 14. Themobile platform of claim 13, wherein: the one or more first sensorsfurther comprise a row detector sensor and a row distance meter; and theone or more second sensors further comprise at least one of: a camera, aplant health sensor, and a machine vision sensor.
 15. The mobileplatform of claim 10, wherein the one or more second sensors are movableup and down relative to the one or more first sensors and are configuredto capture the second data measurements at different heights of theplants in the growing area.
 16. The mobile platform of claim 10, whereinthe one or more first sensors are configured to capture the first datameasurements of the plants in the growing area at a fixed height. 17.The mobile platform of claim 10, wherein the mobile platform isconfigured to be driven by a human operator.
 18. The mobile platform ofclaim 10, wherein the mobile platform is configured to be autonomouslydriven by a computer system.
 19. The mobile platform of claim 10,wherein the stereo-spatio-temporal data measurements of the plants inthe growing area measure one or more plant-related characteristics ofthe plants in the growing area at multiple heights.
 20. The mobileplatform of claim 10, wherein the mobile platform further comprises atleast one processor configured to: receive manual input from a humanoperator, the manual input comprising human observation datameasurements associated with at least some of the plants; and associateeach human observation data measurement with a three-dimensionalposition within the growing area and a time.
 21. A method comprising:moving a mobile platform in a growing area; using one or more firstsensors of the mobile platform, capturing first data measurements ofplants in the growing area; and using one or more second sensors of themobile platform, capturing second data measurements of the plants in thegrowing area, the one or more first sensors offset from the one or moresecond sensors; wherein each of the first and second data measurementsis associated with a three-dimensional position within the growing areaand a time; and wherein the first and second sensors are configured togenerate at least one common type of data measurement such that at leastsome of the first and second data measurements representstereo-spatio-temporal data measurements of the plants in the growingarea.
 22. The method of claim 21, wherein: the one or more first sensorscomprise one or more first climatic sensors and a first light sensor;and the one or more second sensors comprise one or more second climaticsensors and a second light sensor.
 23. The method of claim 22, wherein:the one or more first sensors further comprise a row detector sensor anda row distance meter; and the one or more second sensors furthercomprise at least one of: a camera, a plant health sensor, and a machinevision sensor.
 24. The method of claim 21, wherein the one or moresecond sensors are movable up and down relative to the one or more firstsensors and capture the second data measurements at different heights ofthe plants in the growing area.
 25. The method of claim 21, wherein theone or more first sensors capture the first data measurements of theplants in the growing area at a fixed height.
 26. The method of claim21, wherein the mobile platform is driven by a human operator.
 27. Themethod of claim 21, wherein the mobile platform is autonomously drivenby a computer system.
 28. The method of claim 21, wherein thestereo-spatio-temporal data measurements of the plants in the growingarea measure one or more plant-related characteristics of the plants inthe growing area at multiple heights.
 29. The method of claim 21,further comprising: receiving manual input from a human operator, themanual input comprising human observation data measurements associatedwith at least some of the plants; and associating each human observationdata measurement with a three-dimensional position within the growingarea and a time.